// 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;
    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);
    // Use addRequirements() here to declare subsystem dependencies.
  }

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

  // Called every time the scheduler runs while the command is scheduled.
  @Override
  public void execute() {
    double[] BotPose = new double[6];
    BotPose = limelight3g.getBotPoseBlue();
    botx = BotPose[0];
    boty = BotPose[1];
    angle = BotPose[5];
    drivetrain.setControl(drive.withRotationalRate(limelight3g.Calcule(4.625594, botx, 4.034536, boty, BotPose[5])/90));
    if(limelight3g.Calcule(4.625594, botx, 4.034536, boty, angle)/90 < 0.1){
      timer.start();
    }
    else{
      timer.reset();
    }
  }

  // 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 timer.get() > 1;
  }
}