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

import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.HardwareMap;
import com.qualcomm.robotcore.hardware.Servo;
import com.qualcomm.robotcore.util.ElapsedTime;

/**
 * This is NOT an opmode.
 *
 * This class can be used to define all the specific hardware for a single robot.
 * In this case that robot is a Pushbot.
 * See PushbotTeleopTank_Iterative and others classes starting with "Pushbot" for usage examples.
 *
 * This hardware class assumes the following device names have been configured on the robot:
 * Note:  All names are lower case and some have single spaces between words.
 *
 * Motor channel:  Left  drive motor:        "left_drive"
 * Motor channel:  Right drive motor:        "right_drive"
 * Motor channel:  Manipulator drive motor:  "left_arm"
 * Servo channel:  Servo to open left claw:  "left_hand"
 * Servo channel:  Servo to open right claw: "right_hand"
 */
public class HardwarePushbot
{
    /* Public OpMode members. */
    public DcMotor  leftDrive   = null;
    public DcMotor  rightDrive  = null;
    public DcMotor  leftArm     = null;
    public Servo    leftClaw    = null;
    public Servo    rightClaw   = null;

    public static final double MID_SERVO       =  0.5 ;
    public static final double ARM_UP_POWER    =  0.45 ;
    public static final double ARM_DOWN_POWER  = -0.45 ;

    /* local OpMode members. */
    HardwareMap hwMap           =  null;
    private ElapsedTime period  = new ElapsedTime();

    /* Constructor */
    public HardwarePushbot(){

    }

    /* Initialize standard Hardware interfaces */
    public void init(HardwareMap ahwMap) {
        // Save reference to Hardware map
        hwMap = ahwMap;

        // Define and Initialize Motors
        leftDrive  = hwMap.get(DcMotor.class, "left_drive");
        rightDrive = hwMap.get(DcMotor.class, "right_drive");
        leftArm    = hwMap.get(DcMotor.class, "left_arm");
        leftDrive.setDirection(DcMotor.Direction.FORWARD); // Set to REVERSE if using AndyMark motors
        rightDrive.setDirection(DcMotor.Direction.REVERSE);// Set to FORWARD if using AndyMark motors

        // Set all motors to zero power
        leftDrive.setPower(0);
        rightDrive.setPower(0);
        leftArm.setPower(0);

        // Set all motors to run without encoders.
        // May want to use RUN_USING_ENCODERS if encoders are installed.
        leftDrive.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
        rightDrive.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
        leftArm.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);

        // Define and initialize ALL installed servos.
        leftClaw  = hwMap.get(Servo.class, "left_hand");
        rightClaw = hwMap.get(Servo.class, "right_hand");
        leftClaw.setPosition(MID_SERVO);
        rightClaw.setPosition(MID_SERVO);
    }
 }