// 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 edu.wpi.first.math.controller.PIDController;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj2.command.Command;
import frc.robot.subsystems.Balayeuse;
import frc.robot.subsystems.Lanceur;
import frc.robot.subsystems.Led;
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 Lancer extends Command {
  private Lanceur lanceur;
  private PIDController pidController;
  private Limelight3G limeLight3G;
  private Timer timer;
  private Balayeuse balayeuse;
  private Led led;
  private double temp;
  /** Creates a new Lancer. */
  public Lancer(Lanceur lanceur, Limelight3G limeLight3G, Balayeuse balayeuse,Led led) {
    this.lanceur = lanceur;
    this.balayeuse = balayeuse;
    this.led = led;
    this.timer = new Timer();
    this.limeLight3G = new Limelight3G();
    addRequirements(lanceur, balayeuse, led, limeLight3G);
    this.temp = 0;
    // Use addRequirements() here to declare subsystem dependencies.
  }

  // Called when the command is initially scheduled.
  @Override
  public void initialize() {
    pidController = new PIDController(1, 0,0, 0);
    timer.reset();
    timer.start();
    temp = lanceur.Amp();    
  }

  // Called every time the scheduler runs while the command is scheduled.
  @Override
  public void execute() {
    double botx = 0;
    double boty = 0;
    double[] BotPose = new double[6];
    if(limeLight3G.getV()){
      BotPose = limeLight3G.getBotPoseBlue();
      botx = BotPose[0];
      boty = BotPose[1];
    }
    int nbFois = 0;

    double moyenneAmp = 0;
    if(timer.get() < 3){
      nbFois++;
      moyenneAmp += balayeuse.Amp() / nbFois;
    }
    else{
      nbFois++;
      moyenneAmp -= temp;
      moyenneAmp += balayeuse.Amp() / nbFois;
      temp = balayeuse.Amp();
    }
    // if(moyenneAmp > lanceur.AmpBas() && nbFois > 10){
      timer.reset();
      balayeuse.Balayer(-0.5);
      // led.Jaune2();
    // }
    // else{
                                                
         double vitesse = 0.5;
         if(limeLight3G.getV()){
                                          //pythagore |
                                          //         \/
            vitesse = Math.sqrt(Math.pow(Math.abs(4.625594-botx), 2) + Math.pow(Math.abs(4.034536-boty), 2));
         }                                   
      double output = vitesse; /*pidController.calculate(lanceur.Vitesse(),vitesse);*/
      lanceur.Lancer(output);
      if(lanceur.Vitesse() >= vitesse){
        lanceur.Demeler(0.1);
      }
    // }

  }

  // Called once the command ends or is interrupted.
  @Override
  public void end(boolean interrupted) {
    lanceur.Demeler(0);
    lanceur.Lancer(0);
    balayeuse.Pivoter(0);
  }

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