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

import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.hardware.IrSeekerSensor;

/*
 * This is an example LinearOpMode that shows how to use
 * the Modern Robotics ITR Seeker
 *
 * The op mode assumes that the IR Seeker
 * is configured with a name of "sensor_ir".
 *
 * Set the switch on the Modern Robotics IR beacon to 1200 at 180.  <br>
 * Turn on the IR beacon.
 * Make sure the side of the beacon with the LED on is facing the robot. <br>
 *
 * Use Android Studio 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 = "Sensor: MR IR Seeker", group = "Sensor")
@Disabled
public class SensorMRIrSeeker extends LinearOpMode {

  @Override
  public void runOpMode() {

    IrSeekerSensor irSeeker;    // Hardware Device Object

    // get a reference to our GyroSensor object.
    irSeeker = hardwareMap.get(IrSeekerSensor.class, "sensor_ir");

    // wait for the start button to be pressed.
    waitForStart();

    while (opModeIsActive())  {

      // Ensure we have a IR signal
      if (irSeeker.signalDetected())
      {
        // Display angle and strength
        telemetry.addData("Angle",    irSeeker.getAngle());
        telemetry.addData("Strength", irSeeker.getStrength());
      }
      else
      {
        // Display loss of signal
        telemetry.addData("Seeker", "Signal Lost");
      }

      telemetry.update();
    }
  }
}