package org.firstinspires.ftc.teamcode;

import com.qualcomm.hardware.lynx.LynxI2cColorRangeSensor;
import com.qualcomm.robotcore.hardware.ColorSensor;
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:  Manipulator drive motor:  " arm"
 * Servo channel:  Servo to open left claw:  "left_hand"
 * Servo channel:  Servo to open right claw: "right_hand"t
 */
public class TestBotNN
{
    /* Public OpMode members. */
    public DcMotor  leftMotor   = null;
    public DcMotor  rightMotor  = null;
    public LynxI2cColorRangeSensor colorSensor;
    public Servo grabberServo;

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

    /* Constructor */
    public TestBotNN(){

    }

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

        // Define and Initialize Motors
        leftMotor   = hwMap.dcMotor.get("left motor");
        rightMotor  = hwMap.dcMotor.get("right motor");
        grabberServo = hwMap.servo.get("grabber servo");
        colorSensor = hwMap.get(LynxI2cColorRangeSensor.class, "color sensor");
        colorSensor.enableLed(false);
        colorSensor.red();
        colorSensor.blue();
        leftMotor.setDirection(DcMotor.Direction.REVERSE); // Set to REVERSE if using AndyMark motors
        rightMotor.setDirection(DcMotor.Direction.FORWARD);// Set to FORWARD if using AndyMark motors

        // Set all motors to zero power
        leftMotor.setPower(0);
        rightMotor.setPower(0);
        // Set all motors to run without encoders.
        // May want to use RUN_USING_ENCODERS if encoders are installed.
        leftMotor.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
        rightMotor.setMode(DcMotor.RunMode.RUN_USING_ENCODER);;
       // rightMotor.setMode(DcMotor.RunMode.RUN_TO_POSITION);
        //leftMotor.setMode(DcMotor.RunMode.RUN_TO_POSITION);
    }

    /***
     *
     * waitForTick implements a periodic delay. However, this acts like a metronome with a regular
     * periodic tick.  This is used to compensate for varying processing times for each cycle.
     * The function looks at the elapsed cycle time, and sleeps for the remaining time interval.
     *
     * @param periodMs  Length of wait cycle in mSec.
     */
    public void waitForTick(long periodMs) {

        long  remaining = periodMs - (long)period.milliseconds();

        // sleep for the remaining portion of the regular cycle period.
        if (remaining > 0) {
            try {
                Thread.sleep(remaining);
            } catch (InterruptedException e) {
                Thread.currentThread().interrupt();
            }
        }

        // Reset the cycle clock for the next pass.
        period.reset();
    }
}