// 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 java.util.Optional;

import edu.wpi.first.math.controller.PIDController;
import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.DriverStation.Alliance;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj2.command.Command;
import frc.robot.subsystems.Lanceur;
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;
      double vitesse = 0.5;
          double botx = 0;
    double boty = 0;
      Optional<Alliance> alliance = DriverStation.getAlliance(); 

  /** Creates a new Lancer. */
  public Lancer(Lanceur lanceur, Limelight3G limeLight3G) {
    this.lanceur = lanceur;
    this.timer = new Timer();
    this.limeLight3G = limeLight3G;
    addRequirements(lanceur, limeLight3G);
    // Use addRequirements() here to declare subsystem dependencies.
  }

  // Called when the command is initially scheduled.
  @Override
  public void initialize() {
    if(limeLight3G.getV()){}
    pidController = new PIDController(0.0007, 0,0, 0.001);
    timer.reset();
    alliance = DriverStation.getAlliance();  
  }

  // Called every time the scheduler runs while the command is scheduled.
  @Override
  public void execute() {
    double[] BotPose = new double[6];
    if(limeLight3G.getV()){
    if(!alliance.isPresent()){
      return;
    }
      if(alliance.get() == Alliance.Blue){
        BotPose = limeLight3G.getBotPoseBlue();
      }
      else{
        BotPose = limeLight3G.getBotPoseRed();
      } 
      botx = BotPose[0];
      boty = BotPose[1];
    vitesse = 410.57 * ((Math.sqrt(Math.pow(Math.abs(4.625594-botx), 2) + Math.pow(Math.abs(4.034536-boty), 2)))) + 2250;
  }                                            
    if(limeLight3G.getV()){
      

      double output = pidController.calculate(lanceur.Vitesse(),vitesse);
      lanceur.Lancer(output);
      System.out.println(output);
      if(lanceur.Vitesse() >= vitesse-800){
        timer.start();
        if(timer.get() >1){
          lanceur.Demeler(1);
        }

    }
  }
  }

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

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