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

@TeleOp(name="OPMode_Principal_Vijai", group="Linear Opmode")

public class OPMode_Principal extends LinearOpMode {

    // Declaram motoarele si runtime-ul pentru telemetrie

    private ElapsedTime runtime = new ElapsedTime();
    private DcMotor FrontRightMotor = null;
    private DcMotor BackRightMotor = null;
    private DcMotor FrontLeftMotor = null;
    private DcMotor BackLeftMotor = null;
    private DcMotor HookMotor1 = null;
    private DcMotor HookMotor2 = null;
    public Servo Hook = null;
    private static double MAX_POWER = 1.0, MIN_POWER = -1.0, NULL_POWER = 0.0;
    double pozitie;

    private void MotorSetter(double BackLeft, double FrontRight, double FrontLeft, double BackRight){
        BackLeftMotor.setPower(BackLeft);
        FrontRightMotor.setPower(FrontRight);
        FrontLeftMotor.setPower(FrontLeft);
        BackRightMotor.setPower(BackRight);
    }

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

        // Initializam motoare cu nume explicite pentru a putea fi selectate eficient la configurare

        BackLeftMotor = hardwareMap.get(DcMotor.class, "Left_Back");
        FrontRightMotor  = hardwareMap.get(DcMotor.class, "Right_Front");
        FrontLeftMotor = hardwareMap.get(DcMotor.class, "Left_Front");
        BackRightMotor = hardwareMap.get(DcMotor.class, "Right_Back");
        HookMotor1 = hardwareMap. get(DcMotor.class, "Hook_Motor_1");
        HookMotor2 = hardwareMap. get(DcMotor.class, "Hook_Motor_2");
        Hook    = hardwareMap.get(Servo.class, "Hook_Servo");


        // Datorita regulii maini drepte, inversam motoarele din dreapta si le lasam normale pe cele din dreapta pentru a putea merge drept

        FrontLeftMotor.setDirection(DcMotor.Direction.FORWARD);
        FrontRightMotor.setDirection(DcMotor.Direction.REVERSE);
        BackLeftMotor.setDirection(DcMotor.Direction.FORWARD);
        BackRightMotor.setDirection(DcMotor.Direction.REVERSE);
        HookMotor1.setDirection(DcMotor.Direction.FORWARD);
        HookMotor2.setDirection(DcMotor.Direction.FORWARD);

        // De aici coach-ul apasa start si OpMode-ul va rula pana va apasa stop de pe Driver Station

        Hook.setPosition(pozitie);


        waitForStart();
        runtime.reset();


        if(gamepad2.x)
            Hook.setPosition(0.2);
        else
            Hook.setPosition(0.2);



        // Atata timp cat OpMode-ul este activ va rula pana la oprire urmatorul cod
        while (opModeIsActive()) {

            double Drive, Turn, leftPower ,rightPower;


            //Primirea datelor de la joystick-uri
            Drive = -gamepad1.left_stick_y;
            Turn = gamepad1.right_stick_x;


            //Calcularea puterii redate motoarelor
            leftPower    = Range.clip(Drive + Turn, -1.0, 1.0) ;
            rightPower   = Range.clip(Drive - Turn, -1.0, 1.0) ;

            //Puterile calculte sunt redate motoarelor


            if (gamepad1.a) {

                BackLeftMotor.setPower(rightPower);
                FrontRightMotor.setPower(leftPower);
                FrontLeftMotor.setPower(leftPower);
                BackRightMotor.setPower(rightPower);


            }
            else{
                BackLeftMotor.setPower(leftPower);
                FrontRightMotor.setPower(rightPower);
                FrontLeftMotor.setPower(leftPower);
                BackRightMotor.setPower(rightPower);
            }



            if(gamepad2.a){
                HookMotor1.setPower(MAX_POWER);
                HookMotor2.setPower(MAX_POWER);

            }
            else{
                HookMotor1.setPower(NULL_POWER);
                HookMotor2.setPower(NULL_POWER);
            }

            if(gamepad2.y){
                HookMotor1.setPower(MIN_POWER);
                HookMotor2.setPower(MIN_POWER);
            }
            else{
                HookMotor1.setPower(NULL_POWER);
                HookMotor2.setPower(NULL_POWER);
            }


             //Setarea puterii pentru diagonale
            if(gamepad1.left_trigger!=0){
                MotorSetter(MAX_POWER, MAX_POWER, NULL_POWER, NULL_POWER);

            }

            if(gamepad1.right_trigger!=0){
                MotorSetter(NULL_POWER, NULL_POWER, MAX_POWER, MAX_POWER );

            }

            if(gamepad1.left_bumper==true){
                MotorSetter(NULL_POWER, NULL_POWER, MIN_POWER, MIN_POWER );

            }

            if(gamepad1.right_bumper==true){
                MotorSetter(MIN_POWER, MIN_POWER, NULL_POWER, NULL_POWER );

            }


            // Afisam pe Driver Station timpul in care robotul a rulat si puterea rotilor
            telemetry.addData("Status", "Run Time: " + runtime.toString());
            telemetry.addData("FrontMotors", "Left (%.2f), Right (%.2f)",leftPower, rightPower);
            telemetry.update();
        }
    }
}