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package org.firstinspires.ftc.robotcontroller.external.samples;

import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.OpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.util.Range;

/**
 * This file provides basic Telop driving for a Pushbot robot.
 * The code is structured as an Iterative OpMode
 *
 * This OpMode uses the common Pushbot hardware class to define the devices on the robot.
 * All device access is managed through the HardwarePushbot class.
 *
 * This particular OpMode executes a basic Tank Drive Teleop for a PushBot
 * It raises and lowers the claw using the Gampad Y and A buttons respectively.
 * It also opens and closes the claws slowly using the left and right Bumper buttons.
 *
 * Use Android Studios to Copy this Class, and Paste it into your team's code folder with a new name.
 * Remove or comment out the @Disabled line to add this opmode to the Driver Station OpMode list
 */

@TeleOp(name="Pushbot: Teleop Tank", group="Pushbot")
@Disabled
public class PushbotTeleopTank_Iterative extends OpMode{

    /* Declare OpMode members. */
    HardwarePushbot robot       = new HardwarePushbot(); // use the class created to define a Pushbot's hardware
    double          clawOffset  = 0.0 ;                  // Servo mid position
    final double    CLAW_SPEED  = 0.02 ;                 // sets rate to move servo

    /*
     * Code to run ONCE when the driver hits INIT
     */
    @Override
    public void init() {
        /* Initialize the hardware variables.
         * The init() method of the hardware class does all the work here
         */
        robot.init(hardwareMap);

        // Send telemetry message to signify robot waiting;
        telemetry.addData("Say", "Hello Driver");    //
    }

    /*
     * Code to run REPEATEDLY after the driver hits INIT, but before they hit PLAY
     */
    @Override
    public void init_loop() {
    }

    /*
     * Code to run ONCE when the driver hits PLAY
     */
    @Override
    public void start() {
    }

    /*
     * Code to run REPEATEDLY after the driver hits PLAY but before they hit STOP
     */
    @Override
    public void loop() {
        double left;
        double right;

        // Run wheels in tank mode (note: The joystick goes negative when pushed forwards, so negate it)
        left = -gamepad1.left_stick_y;
        right = -gamepad1.right_stick_y;

        robot.leftDrive.setPower(left);
        robot.rightDrive.setPower(right);

        // Use gamepad left & right Bumpers to open and close the claw
        if (gamepad1.right_bumper)
            clawOffset += CLAW_SPEED;
        else if (gamepad1.left_bumper)
            clawOffset -= CLAW_SPEED;

        // Move both servos to new position.  Assume servos are mirror image of each other.
        clawOffset = Range.clip(clawOffset, -0.5, 0.5);
        robot.leftClaw.setPosition(robot.MID_SERVO + clawOffset);
        robot.rightClaw.setPosition(robot.MID_SERVO - clawOffset);

        // Use gamepad buttons to move the arm up (Y) and down (A)
        if (gamepad1.y)
            robot.leftArm.setPower(robot.ARM_UP_POWER);
        else if (gamepad1.a)
            robot.leftArm.setPower(robot.ARM_DOWN_POWER);
        else
            robot.leftArm.setPower(0.0);

        // Send telemetry message to signify robot running;
        telemetry.addData("claw",  "Offset = %.2f", clawOffset);
        telemetry.addData("left",  "%.2f", left);
        telemetry.addData("right", "%.2f", right);
    }

    /*
     * Code to run ONCE after the driver hits STOP
     */
    @Override
    public void stop() {
    }
}