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package org.firstinspires.ftc.teamcode;

import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.DcMotorSimple;
import com.qualcomm.robotcore.hardware.Servo;
import com.qualcomm.robotcore.util.ElapsedTime;


/**
 * This file contains an minimal example of a Linear "OpMode". An OpMode is a 'program' that runs in either
 * the autonomous or the teleop period of an FTC match. The names of OpModes appear on the menu
 * of the FTC Driver Station. When an selection is made from the menu, the corresponding OpMode
 * class is instantiated on the Robot Controller and executed.
 *
 * This particular OpMode just executes a basic Tank Drive Teleop for a two wheeled robot
 * It includes all the skeletal structure that all linear OpModes contain.
 *
 * 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="GamepadCuSprint", group="Linear Opmode")
//@Disabled
public class GamepadCuSprint extends LinearOpMode {

    // Declare OpMode members.
    private ElapsedTime runtime = new ElapsedTime();

    DcMotor leftMotor;
    DcMotor rightMotor;

    DcMotor MotorPrindere;

    DcMotor MotorBrat;


    Servo ServoBrat;

    double power=0.5;
    double tpower=0.25;
    double spower=0.9;
    double servoposition=0.0;
    double powerbrat=20;
    @Override
    public void runOpMode() {
        telemetry.addData("Status", "Initialized");
        telemetry.update();

        leftMotor=hardwareMap.dcMotor.get("Left_Motor");
        rightMotor=hardwareMap.dcMotor.get("Right_Motor");
        MotorPrindere=hardwareMap.dcMotor.get("Motor_Prindere");
        MotorBrat=hardwareMap.dcMotor.get("Motor_Brat");
        ServoBrat=hardwareMap.servo.get("Servo_Brat");
        leftMotor.setDirection(DcMotorSimple.Direction.REVERSE);


        // Wait for the game to start (driver presses PLAY)
        waitForStart();
        runtime.reset();

        ServoBrat.setPosition(servoposition);

        // run until the end of the match (driver presses STOP)
        while (opModeIsActive()) {
            telemetry.addData("Status", "Run Time: " + runtime.toString());
            telemetry.update();
         if(gamepad1.right_bumper&&gamepad1.a)
         {leftMotor.setPower(power+spower);
         rightMotor.setPower(power+spower);

         }

         else
         {leftMotor.setPower(0.0);
             rightMotor.setPower(0.0);

         }

         if(gamepad1.right_bumper&&gamepad1.a==false)
         { leftMotor.setPower(power);
           rightMotor.setPower(power);

         }



         else
         {leftMotor.setPower(0.0);
             rightMotor.setPower(0.0);

         }

          if(gamepad1.left_bumper&&gamepad1.a)
          {leftMotor.setPower(-power-spower);
              rightMotor.setPower(-power-spower);

          }

          else
          {leftMotor.setPower(0.0);
              rightMotor.setPower(0.0);

          }
         if(gamepad1.left_bumper&&gamepad1.a==false)
         {
             leftMotor.setPower(-power);
             rightMotor.setPower(-power);
         }

         else
             {leftMotor.setPower(0.0);
             rightMotor.setPower(0.0);

             }

             if(gamepad1.dpad_right)
             {leftMotor.setPower(tpower);
              rightMotor.setPower(-tpower);

             }
             else
             {leftMotor.setPower(0.0);
                 rightMotor.setPower(0.0);

             }

            if(gamepad1.dpad_left)
            {leftMotor.setPower(-tpower);
             rightMotor.setPower(tpower);

            }

            else
             {leftMotor.setPower(0.0);
              rightMotor.setPower(0.0);

             }

            if(gamepad2.right_bumper) MotorPrindere.setPower(power);
            else MotorPrindere.setPower(0.0);

            if(gamepad2.left_bumper) MotorPrindere.setPower(-power);
            else MotorPrindere.setPower(0.0);



            if(gamepad2.dpad_up) {
                MotorBrat.setDirection(DcMotorSimple.Direction.FORWARD);
                MotorBrat.setPower(powerbrat);

            }

            else MotorBrat.setPower(0.0);

            if(gamepad2.dpad_down) {
                MotorBrat.setDirection(DcMotorSimple.Direction.REVERSE);
                MotorBrat.setPower(powerbrat);

            }
            else MotorBrat.setPower(0.0);

            if(gamepad2.b)
             {
                servoposition = 1.0;
                ServoBrat.setPosition(servoposition);
             }

            if(gamepad2.x)
            {servoposition=0.0;
             ServoBrat.setPosition(servoposition);
            }


        }
    }
}