// 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.DriverStation;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj2.command.Command;
import frc.robot.subsystems.Lanceur;

/* 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 LancerBaseVitesse extends Command {
  private Lanceur lanceur;
  private PIDController pidController;
  private Timer timer;
  double tempsDebut = 0;
  /** Creates a new Lancer. */
  public LancerBaseVitesse(Lanceur lanceur) {
    this.lanceur = lanceur;
   this.timer = new Timer();
    addRequirements(lanceur);
    //this.temp = 0;
    // Use addRequirements() here to declare subsystem dependencies.
  }

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

  // Called every time the scheduler runs while the command is scheduled.
  @Override
  public void execute() {
    System.out.println(DriverStation.getMatchTime());
      double vitesse = lanceur.vitesseDemander();
      double output = pidController.calculate(lanceur.Vitesse(),vitesse);
      lanceur.Lancer(output);
      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;
  }
}