/* Generated by Phoenix Tuner X */
package frc.robot.subsystems;

import edu.wpi.first.networktables.GenericEntry;
import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.shuffleboard.BuiltInWidgets;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.SubsystemBase;

import com.ctre.phoenix6.CANBus;
import com.ctre.phoenix6.controls.SolidColor;
import com.ctre.phoenix6.hardware.CANdle;
import com.ctre.phoenix6.signals.RGBWColor;

/**
 * Subsystem that controls an addressable LED strip using a CANdle.
 */
public class LEDSubsystem extends SubsystemBase {
    Timer _timer;
    ShuffleboardTab teb = Shuffleboard.getTab("teb");
     private GenericEntry equipe = 
    teb.add("equipe commence (bleu = ouvert, rouge = fermé)", true).withWidget(BuiltInWidgets.kToggleSwitch).getEntry();  
    private final CANBus kCANBus = new CANBus("rio");
    private final CANdle m_candle = new CANdle(17, kCANBus);
    public void Bleu(){
        m_candle.setControl(new SolidColor(0, 80).withColor(new RGBWColor(255, 0, 0, 0)));
    }
    public void Rouge(){
        m_candle.setControl(new SolidColor(0, 80).withColor(new RGBWColor(0, 0, 255, 0)));
    }
    public void Vert(){
        m_candle.setControl(new SolidColor(0, 80).withColor(new RGBWColor(0, 255, 0, 0)));
    }
    public void Noir(){

        m_candle.setControl(new SolidColor(0, 80).withColor(new RGBWColor(0, 0, 0, 0)));
    }
    public void Flash(boolean couleur){
        if(_timer.get() <0.5){
            if(couleur){
                Bleu();
            }
            else{
                Rouge();
            }
        }
        else{
            Noir();
            _timer.reset();
        }
    }
    public LEDSubsystem() {
        setDefaultCommand(updateLEDs());
        _timer = new Timer();
        _timer.reset();
        _timer.start();
    }
    public boolean Equipe(){
        return equipe.getBoolean(false);
    }
    /**
     * Updates the animations and LEDs of the CANdle.
     *
     * @return Command to run
     */
    public Command updateLEDs() {
        double temps = DriverStation.getMatchTime();
        return run(() -> {
            if(Equipe()){
                if(temps > 110){
                    Vert();
                }
                else if(temps > 88){
                    
                    Bleu();
                }
                else if(temps > 85){
                    Flash(true);
                }
                else if(temps > 63){
                    Rouge();
                }
                else if(temps  > 60){
                    Flash(false);
                }
                else if(temps > 33){
                    Bleu();
                }
                else if(temps  > 30){
                    Flash(true);
                }
                else if(temps > 13){
                    Rouge();
                }
                else if(temps > 10){
                    Flash(false);
                }
                else if(temps < 10){
                    Vert();
                }
            }
            else{
                if(temps > 110){
                    Vert();
                }
                else if(temps > 88){
                    
                    Rouge();
                }
                else if(temps > 85){
                    Flash(false);
                }
                else if(temps > 63){
                    Bleu();
                }
                else if(temps  > 60){
                    Flash(true);
                }
                else if(temps > 33){
                    Rouge();
                }
                else if(temps  > 30){
                    Flash(false);
                }
                else if(temps > 13){
                    Bleu();
                }
                else if(temps > 10){
                    Flash(true);
                }
                else if(temps < 10){
                    Vert();
                }
            }
        });
    }
}