package ca.mcgill.ecse211.project;

import static ca.mcgill.ecse211.project.Resources.*;

/**
 * This class is used to activate the launcher on the robot
 *
 * @author Alex Choi
 * @author Louca Dufault
 */

REEL_SPEED = slow;
REEL_ACCELERATION = slow;

LOCK_SPEED = slow;
LOCK_ACCELERATION = slow;

UNLOCK_SPEED = fast;
UNLOCK_ACCELERATION = fast;


public class Launcher {


  /**
   * Sets up the speeds and accelerations of the motors before beginning the launch
   */
  private static void setup() {
    reelMotor.setAcceleration(REEL_ACCELERATION);
    reelMotor.setSpeed(REEL_SPEED);

    latchMotor.setAcceleration(LOCK_ACCELERATION);
    latchMotor.setSpeed(LOCK_SPEED);

    //latchMotor.rotate(90, true); //rotate cw 90 deg, blocking unlock
  }

  /**
   * Performs the launch maneuver of the launcher hardware.
   */
  public static void launch() {
    setup();
    reelMotor.rotate(180, false); //non-blocking
    Thread.sleep(500); //once it has sufficiently wound up
    latchMotor.rotate(-90, false); //lock
    latchMotor.stop(); // keep lock in place

    reelMotor.rotate(-180, true); // unwind reel, blocking

    latchMotor.setAcceleration(UNLOCK_ACCELERATION);
    latchMotor.setSpeed(UNLOCK_SPEED);
    latchMotor.rotate(90, true); //unlock, blocking
  }
}