// 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.MetersPerSecond;
import static edu.wpi.first.units.Units.RadiansPerSecond;
import static edu.wpi.first.units.Units.RotationsPerSecond;

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.math.MathUtil;
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.LimeLight3;
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 GrimperMur extends Command {
  LimeLight3 limeLight3;
  CommandSwerveDrivetrain drivetrain;
  double[] BotPose = new double[6];
  double botx;
  double boty;
  double x;
  double y;
  double angle;
  double pigeonAngle;
  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 GrimperMur. */
  public GrimperMur(LimeLight3 limeLight3, CommandSwerveDrivetrain drivetrain) {
    this.drivetrain = drivetrain;
    this.limeLight3 = limeLight3;
    addRequirements(limeLight3,drivetrain);
    // Use addRequirements() here to declare subsystem dependencies.
  }

  // Called when the command is initially scheduled.
  @Override
  public void initialize() {
    // alliance = DriverStation.getAlliance();
    //   if(drivetrain.Equipe()){
    //         angle+=180;
    //   }
  }

  // Called every time the scheduler runs while the command is scheduled.
  @Override
  public void execute() {
    if(limeLight3.getV()){
      BotPose = limeLight3.getBotPoseBlue();
      botx = BotPose[0];
      boty = BotPose[1];
      if(angle < 0){
        angle = angle + 360;
      }
      if(alliance.get() == Alliance.Red){
        pigeonAngle = drivetrain.getPigeon2().getYaw().getValueAsDouble();
        System.out.println(pigeonAngle);
      y = 2.6;
      x = 15.6;
      angle = 180;
      if(pigeonAngle< 190 && pigeonAngle> 170){
        drivetrain.setControl(drive.withVelocityY(MathUtil.clamp((-(y-boty)*6.5), -2, 2)).withVelocityX(MathUtil.clamp((-(x-botx)*6.5),-2,2)));
      }
      else{
        if(pigeonAngle>180){
          drivetrain.setControl(drive.withRotationalRate(-1));
        }
        else{
          drivetrain.setControl(drive.withRotationalRate(1));
        }
      }
      }
      else{
        pigeonAngle = drivetrain.getPigeon2().getYaw().getValueAsDouble()+180;
        System.out.println(pigeonAngle);
        y = 5.2;
        x = 1.11;
        angle = 0;
        if(pigeonAngle> 358 || pigeonAngle< 2){
          drivetrain.setControl(drive.withVelocityY(MathUtil.clamp(((y-boty)*5.5), -2, 2)).withVelocityX(MathUtil.clamp(((x-botx)*5.5),-2,2)).withRotationalRate(0));
        }
        else{
          if(pigeonAngle>0 && pigeonAngle<180){
            drivetrain.setControl(drive.withRotationalRate(-1));
            System.out.println("x");
          }
          else if(pigeonAngle>180){
            System.out.println("e");
            drivetrain.setControl(drive.withRotationalRate(1));
          }
        }
      }
    }
    else{
      drivetrain.setControl(drive.withVelocityX(0).withVelocityY(0).withRotationalRate(0));
    }
  }

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