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package org.firstinspires.ftc.teamcode;

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.util.ElapsedTime;
import com.qualcomm.robotcore.util.Range;


/**
 * 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="Basic: Linear OpMode", group="Linear Opmode")
public class BasicOpMode_Linear extends LinearOpMode {

    // Declare OpMode members.
    private ElapsedTime runtime = new ElapsedTime();
    private DcMotor FrontLeft = null;
    private DcMotor FrontRight = null;
    private DcMotor BackLeft = null;
    private DcMotor BackRight = null;

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

        // Initialize the hardware variables. Note that the strings used here as parameters
        // to 'get' must correspond to the names assigned during the robot configuration
        // step (using the FTC Robot Controller app on the phone).
        FrontLeft = hardwareMap.get(DcMotor.class, "fl");
        FrontRight = hardwareMap.get(DcMotor.class, "fr");
        BackRight = hardwareMap.get(DcMotor.class, "br");
        BackLeft = hardwareMap.get(DcMotor.class, "bl");
        // Most robots need the motor on one side to be reversed to drive forward
        // Reverse the motor that runs backwards when connected directly to the battery
        FrontRight.setDirection(DcMotor.Direction.FORWARD);
        FrontLeft.setDirection(DcMotor.Direction.REVERSE);
        BackLeft.setDirection(DcMotor.Direction.REVERSE);
        BackRight.setDirection(DcMotor.Direction.FORWARD);

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

        // run until the end of the match (driver presses STOP)
        while (opModeIsActive()) {

            if (gamepad1.y) {
                FrontLeft.setPower(1.0);
                FrontRight.setPower(1.0);
                BackRight.setPower(1.0);
                BackLeft.setPower(1.0);


            } else {

                FrontLeft.setPower(0);
                FrontRight.setPower(0);
                BackRight.setPower(0);
                BackLeft.setPower(0);
            }


            if (gamepad1.a) {

                FrontLeft.setPower(-1.0);
                FrontRight.setPower(-1.0);
                BackRight.setPower(-1.0);
                BackLeft.setPower(-1.0);
            } else {
                FrontLeft.setPower(0);
                FrontRight.setPower(0);
                BackRight.setPower(0);
                BackLeft.setPower(0);
            }
            if (gamepad1.x) {
                FrontLeft.setPower(-1.0);
                FrontRight.setPower(1.0);
                BackRight.setPower(-1.0);
                BackLeft.setPower(1.0);
            } else {
                FrontLeft.setPower(0);
                FrontRight.setPower(0);
                BackRight.setPower(0);
                BackLeft.setPower(0);
            }
            if (gamepad1.b) {
                FrontLeft.setPower(1.0);
                FrontRight.setPower(-1.0);
                BackRight.setPower(1.0);
                BackLeft.setPower(-1.0);
            } else {
                FrontLeft.setPower(0);
                FrontRight.setPower(0);
                BackRight.setPower(0);
                BackLeft.setPower(0);
            }


            // Show the elapsed game time and wheel power.
            telemetry.addData("Status", "Run Time: " + runtime.toString());
            telemetry.addData("Motors", "left (%.2f), right (%.2f)", FrontLeft, FrontRight);
            telemetry.update();
        }
    }
}