package org.usfirst.frc.team4272.robot2016;

//import org.usfirst.frc.team4272.robotlib.PushButton;
import org.usfirst.frc.team4272.robotlib.Xbox360Controller.Axis;
import org.usfirst.frc.team4272.robotlib.Xbox360Controller.Button;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj.Joystick;

public class Teleop {
	//private PushButton camButton = new PushButton();

	public Teleop() {
	}

	private static double jsScale(Joystick j) {
		double y = -j.getY();/* +:forward; -:backward */
		double z = -j.getZ();/* +:more-sensitive; -:less-sensitive */
		return Math.copySign(Math.pow(Math.abs(y), 2.0-z), y);
	}

	private static double bound(double min, double v, double max) {
		return Math.min(Math.max(v, min), max);
	}

	private static double oneIf(boolean b) {
		return b ? 1 : 0;
	}

	public Control run(Control control, HwOI oi) {
		/* Drive */
		control.lDrive1 = jsScale(oi.lStick);
		control.rDrive1 = jsScale(oi.rStick);
		control.lDrive2 = oi.lStick.getTrigger() ? control.lDrive1 : 0;
		control.rDrive2 = oi.rStick.getTrigger() ? control.rDrive1 : 0;
		control.arm = -oi.xbox.getAxis(Axis.LY);
		control.fBall = bound(-1, oi.xbox.getAxis(Axis.RTrigger) - oi.xbox.getAxis(Axis.LTrigger), 1);
		control.bBall = bound(-1,
		                      bound(-1, control.fBall, 0)
		                      + oneIf(oi.xbox.getButton(Button.A))
		                      - oneIf(oi.xbox.getButton(Button.B)),
		                      1);
		control.fBall = control.fBall < 0 ? 0.5*control.fBall : control.fBall;
		control.bBall = control.bBall < 0 ? 0.5*control.bBall : control.bBall;

		SmartDashboard.putNumber("fBall", control.fBall);
		SmartDashboard.putNumber("bBall", control.bBall);

		/* Take pictures */
		/*
		if (camButton.update(oi.xbox.getButton(Button.RT))) {
			try {
				ProcessBuilder pb = new ProcessBuilder("/home/lvuser/tweeterbot/bin/snapPhoto");
				pb.redirectErrorStream(true);
				pb.start();
			} catch (Exception e) {};
		}
		*/

		return control;
	}
}