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package org.firstinspires.ftc.teamcode;

import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
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.DcMotor;
import com.qualcomm.robotcore.hardware.DcMotorSimple;
import com.qualcomm.robotcore.hardware.Servo;
import com.qualcomm.robotcore.util.ElapsedTime;
import com.qualcomm.robotcore.util.Range;




@Autonomous(name="Autonomie", group="Linear Opmode")
//@Disabled
public class Autonomie extends LinearOpMode {

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


    DcMotor MotorPrindere;

    DcMotor leftMotor;
    DcMotor rightMotor;

    DcMotor MotorBrat;

    Servo ServoMarker;




    double power = 1.0;
    double lungime=0.0;

    @Override
    public void runOpMode() {
        telemetry.addData("Status", "Initialized");
        telemetry.update();

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

        waitForStart();
        runtime.reset();



            MotorPrindere.setPower(-power);
            sleep(2500);

            MotorPrindere.setPower(0.0);


        leftMotor.setPower(-power);
        rightMotor.setPower(-power);
        sleep(70);

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

        sleep(500);

        rightMotor.setPower(0.0);
        leftMotor.setPower(power);

        sleep(1800);

        leftMotor.setPower(0.0);
        rightMotor.setPower(0.0);
        sleep(500);

        leftMotor.setPower(-power);
        rightMotor.setPower(-power);
        sleep(1000);


        leftMotor.setPower(0.0);
        rightMotor.setPower(0.0);
        sleep(500);

        rightMotor.setPower(0.0);
        leftMotor.setPower(power);
        sleep(800);

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

        leftMotor.setPower(-power);
        rightMotor.setPower(-power);
        sleep(85);

        leftMotor.setPower(0.0);
        rightMotor.setPower(0.0);
        sleep(500);


        ServoMarker.setPosition(0.5);
        sleep(500);
        ServoMarker.setPosition(0.0);
        sleep(500);

        leftMotor.setPower(0.0);
        rightMotor.setPower(0.0);
        sleep(500);


        leftMotor.setPower(0.0);
        rightMotor.setPower(power);
        sleep(200);

        rightMotor.setPower(0.0);
        leftMotor.setPower(0.0);
        sleep(500);

        leftMotor.setPower(power);
        rightMotor.setPower(power);
        sleep(1700);

        leftMotor.setPower(0.0);
        rightMotor.setPower(0.0);
        sleep(500);

        MotorBrat.setPower(power);
        sleep(1500);

        MotorBrat.setPower(0.0);
        sleep(500);

        while (opModeIsActive()) {
            telemetry.addData("Status", "Run Time: " + runtime.toString());
            telemetry.update();
        }


    }
}