// 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.swerve.SwerveModule.DriveRequestType;
import com.ctre.phoenix6.swerve.SwerveRequest;

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

/* 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 BougerGaucheAuto extends Command {
  CommandSwerveDrivetrain drivetrain;
  Timer timer = new Timer();
  private double MaxSpeed = TunerConstants.kSpeedAt12Volts.in(MetersPerSecond);
  private double MaxAngularRate = RotationsPerSecond.of(0.75).in(RadiansPerSecond);
  Optional<Alliance> alliance;
  private final SwerveRequest.FieldCentric drive = new SwerveRequest.FieldCentric()
            .withDeadband(MaxSpeed * 0.1).withRotationalDeadband(MaxAngularRate * 0.1) 
            .withDriveRequestType(DriveRequestType.OpenLoopVoltage);
  /** Creates a new AvanceAuto. */
  public BougerGaucheAuto(CommandSwerveDrivetrain drivetrain) {
        this.drivetrain = drivetrain;
    addRequirements(drivetrain);
    // Use addRequirements() here to declare subsystem dependencies.
  }

  // Called when the command is initially scheduled.
  @Override
  public void initialize() {
    alliance = DriverStation.getAlliance();
    timer.reset();
    timer.start();
  }

  // Called every time the scheduler runs while the command is scheduled.
  @Override
  public void execute() {
      if(timer.get() < 1.25){
        drivetrain.setControl(drive.withVelocityY(1.5));
      }
      else{
        drivetrain.setControl(drive.withVelocityY(0));
      }
  }

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

  // Returns true when the command should end.
  @Override
  public boolean isFinished() {
    return timer.get() > 1;
  }
}