// 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;

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

import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj2.command.Command;
import frc.robot.generated.TunerConstants;
import frc.robot.subsystems.CommandSwerveDrivetrain;
import frc.robot.subsystems.Limelight3G;
import static edu.wpi.first.units.Units.*;

/* 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 Limelighter extends Command {
  Timer timer;
  Limelight3G limelight3g;
  CommandSwerveDrivetrain drivetrain;
  private double MaxSpeed = TunerConstants.kSpeedAt12Volts.in(MetersPerSecond);
  private double MaxAngularRate = RotationsPerSecond.of(0.75).in(RadiansPerSecond);
  double botx;
  double boty;
  double angle;
  double calcul;
  private final SwerveRequest.FieldCentric drive = new SwerveRequest.FieldCentric()
      .withDeadband(MaxSpeed * 0.1).withRotationalDeadband(MaxAngularRate * 0.1)
      .withDriveRequestType(DriveRequestType.OpenLoopVoltage);

  /** Creates a new Limelighter. */
  public Limelighter(Limelight3G limelight3g, CommandSwerveDrivetrain drivetrain) {
    this.limelight3g = limelight3g;
    this.drivetrain = drivetrain;
    addRequirements(drivetrain, limelight3g);
    timer = new Timer();
    // Use addRequirements() here to declare subsystem dependencies.
  }

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

  // Called every time the scheduler runs while the command is scheduled.
  @Override
  public void execute() {
    double[] BotPose = new double[6];
    if (limelight3g.getV()) {
      BotPose = limelight3g.getBotPoseBlue();
      botx = BotPose[1];
      boty = BotPose[0];
      angle = drivetrain.getPigeon2().getYaw().getValueAsDouble();
      if(angle >180){
        angle =- 360;
      }
      calcul = limelight3g.Calcule(botx, 4, boty, 4.6, angle) / 5;  
      drivetrain.setControl(
          drive.withVelocityX(0).withVelocityY(0).withRotationalRate(calcul));
      System.out.println(calcul);
      if (calcul < 0.2 && calcul > -0.2) {
    //     timer.start();
    //   } else {
    //     timer.reset();
    //   }
    // } else {
    //   timer.stop();
      drivetrain.setControl(drive.withRotationalRate(0));
      }
    }
    else{
      drivetrain.setControl(drive.withRotationalRate(0));
    }
  }


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

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