// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.

package frc.robot.commands.ModeAuto;

import static edu.wpi.first.units.Units.*;

import java.util.Optional;

import com.ctre.phoenix6.hardware.Pigeon2;
import com.ctre.phoenix6.swerve.SwerveModule.DriveRequestType;
import com.ctre.phoenix6.swerve.SwerveRequest;

import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.DriverStation.Alliance;
import edu.wpi.first.wpilibj2.command.Command;
import frc.robot.generated.TunerConstants;
import frc.robot.subsystems.CommandSwerveDrivetrain;
import frc.robot.subsystems.Limelight3G;

/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
public class RetourMilieuGauche extends Command {
  CommandSwerveDrivetrain drivetrain;
  Limelight3G limelight3g;
  double botx;
  double boty;
  double x;
  double y;
  double angle;
  private double MaxSpeed = TunerConstants.kSpeedAt12Volts.in(MetersPerSecond);
  private double MaxAngularRate = RotationsPerSecond.of(0.75).in(RadiansPerSecond);
  Optional<Alliance> alliance = DriverStation.getAlliance(); 
  private final SwerveRequest.FieldCentric drive = new SwerveRequest.FieldCentric()
            .withDeadband(MaxSpeed * 0.1).withRotationalDeadband(MaxAngularRate * 0.1) 
            .withDriveRequestType(DriveRequestType.OpenLoopVoltage);
  /** Creates a new RetourMilieu. */
  public RetourMilieuGauche(CommandSwerveDrivetrain drivetrain, Limelight3G limelight3g) {
    this.drivetrain = drivetrain;
    this.limelight3g = limelight3g;
    addRequirements(drivetrain, limelight3g);
    // Use addRequirements() here to declare subsystem dependencies.
  }

  // Called when the command is initially scheduled.
  @Override
  public void initialize() {}

  // Called every time the scheduler runs while the command is scheduled.
  @Override
  public void execute() {
    if(angle < 0){
      angle = angle + 360;
    }
    double[] BotPose = new double[6];
    BotPose = limelight3g.getBotPoseBlue();
    botx = BotPose[0];
    boty = BotPose[1];
    
    if(alliance.get() == Alliance.Blue){
      y = 7.380;
      x = 2.305;
      angle = 0;
      if(limelight3g.getV()){
        if(drivetrain.getPigeon2().getYaw().getValueAsDouble() >355 || drivetrain.getPigeon2().getYaw().getValueAsDouble() < 5){
        if((y-boty < 0.05 && y-boty >-0.05) && (x-botx < 0.05 && x-botx > -0.05)){
          drivetrain.setControl(drive.withVelocityX(0).withVelocityY(0));
        }
        else{
            if(botx < 6){
              drivetrain.setControl(drive.withVelocityX(y-boty));
            }
            else{
              drivetrain.setControl(drive.withVelocityX(y-boty).withVelocityY(x-botx));
            }
        }
      }
      else{
        if(drivetrain.getPigeon2().getYaw().getValueAsDouble() >angle && drivetrain.getPigeon2().getYaw().getValueAsDouble() <angle +180){
          drivetrain.setControl(drive.withRotationalRate(0.5));
        }
        else if(drivetrain.getPigeon2().getYaw().getValueAsDouble() >=angle +180){
    
          drivetrain.setControl(drive.withRotationalRate(-0.5));
        }
       }
      }
     }
     else{
      y = 0.639;
      x = 13.963;
      angle = 180;
      if(limelight3g.getV()){
        if(drivetrain.getPigeon2().getYaw().getValueAsDouble() >175 && drivetrain.getPigeon2().getYaw().getValueAsDouble() < 185){
        if((y-boty < 0.05 && y-boty >-0.05) && (x-botx < 0.05 && x-botx > -0.05)){
          drivetrain.setControl(drive.withVelocityX(0).withVelocityY(0));
        }
        else{
            if(botx > 10){
              drivetrain.setControl(drive.withVelocityX(y-boty));
            }
            else{
              drivetrain.setControl(drive.withVelocityX(y-boty).withVelocityY(x-botx));
            }
        }
      }
      else{
        if(drivetrain.getPigeon2().getYaw().getValueAsDouble() >0 && drivetrain.getPigeon2().getYaw().getValueAsDouble() <180){
          drivetrain.setControl(drive.withRotationalRate(-0.5));
        }
        else if(drivetrain.getPigeon2().getYaw().getValueAsDouble() >=180){
    
          drivetrain.setControl(drive.withRotationalRate(0.5));
        }
       }
      }
     }
     
  }

  // Called once the command ends or is interrupted.
  @Override
  public void end(boolean interrupted) {
    drivetrain.setControl(drive.withVelocityX(0).withVelocityY(0));
  }

  // Returns true when the command should end.
  @Override
  public boolean isFinished() {
    return (y-boty < 0.05 && y-boty >-0.05) && (x-botx < 0.05 && x-botx > -0.05);
  }
}