package org.usfirst.frc.team4272.robot2016;

import org.mckenzierobotics.lib.robot.PIDOutputSplitter;

import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.PIDOutput;
import edu.wpi.first.wpilibj.PIDSourceType;
import edu.wpi.first.wpilibj.Talon;

public class HwRobot {
	/* Relay == a Spike */
	/* PCM = Pneumatics Control Module */

	/* All of the numbered inputs are in the classes:
	 * - DIO: 0-9
	 * - Relay: 0-3
	 * - Analog In: 0-3
	 * - PWM: 0-9
	 * - PCM: 0-7 (the PCM is connected via CAN).
	 * - CAN
	 *
	 * For completeness, the roboRIO also has: i2c, RS-232, SPI,
	 * RSL, 2xUSB-A, an accelerometer, and an expansion port.
	 *
	 * And, for communication: USB-B and Ethernet.
	 */

	// naming convention: {side_letter}{Thing}{E|M (encoder/motor)}

	public Encoder   lDriveE = new Encoder(/*DIO*/2,/*DIO*/3);
	private PIDOutput lDriveM = new PIDOutputSplitter(new Talon(/*PWM*/0),
	                                                 new Talon(/*PWM*/1));
	public Encoder   rDriveE = new Encoder(/*DIO*/0,/*DIO*/1, true);
	private PIDOutput rDriveM = new PIDOutputSplitter(new Talon(/*PWM*/2),
	                                                 new Talon(/*PWM*/3));
	private PIDOutput fBallM = new PIDOutputSplitter(new Talon(/*PWM*/4), new Talon(/*PWM*/5));
	private PIDOutput bBallM = new PIDOutputSplitter(new Talon(/*PWM*/6), new Talon(/*PWM*/7));

	public HwRobot() {
		lDriveE.setPIDSourceType(PIDSourceType.kRate);
		rDriveE.setPIDSourceType(PIDSourceType.kRate);
	}

	public void run(Control c) {
		lDriveM.pidWrite( c.lDrive);
		rDriveM.pidWrite(-c.rDrive);
		fBallM.pidWrite(c.fBall);
		bBallM.pidWrite(c.bBall);
	}
}