/**
 * Copyright (c) 2017 Luke Shumaker.
 * Copyright (c) 2017 Thomas Griffith.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the FIRST nor the
 *       names of its contributors may be used to endorse or promote products
 *       derived from this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY FIRST AND CONTRIBUTORS``AS IS'' AND ANY
 * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
 * WARRANTIES OF MERCHANTABILITY NONINFRINGEMENT AND FITNESS FOR A PARTICULAR
 * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL FIRST OR CONTRIBUTORS BE LIABLE FOR
 * ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 */
package org.usfirst.frc.team4272.robot2017;

public class Autonomous {
	private final HwRobot robot;

	public Autonomous(HwRobot robot) {
		this.robot = robot;
		robot.lDriveE.reset();
		robot.rDriveE.reset();
	}

	private boolean driveDistance(Control c, double speed, double dist) {
		double lDist = robot.lDriveE.getDistance();
		double rDist = robot.rDriveE.getDistance();

		double thresh = dist * 2.0/3.0;
		double max = dist * 1.05;

		if (lDist < thresh) {
			c.lDrive = speed;
		} else if (lDist < max) {
			c.lDrive = speed*Math.sqrt((dist-lDist)/(dist-thresh));
		} else {
			c.lDrive = 0;
		}

		if (rDist < thresh) {
			c.rDrive = speed;
		} else if (rDist < max) {
			c.rDrive = speed*Math.sqrt((dist-rDist)/(dist-thresh));
		} else {
			c.rDrive = 0;
			return true;
		}

		if (Math.abs(lDist - rDist) > 0.1) {
			if (lDist > rDist) {
				c.lDrive *= 0.2;
			} else {
				c.rDrive *= 0.2;
			}
		}
		return false;
	}

	public Control run(Control c) {
		c.gedOut = false;
		driveDistance(c, 0.3, 8.75);
		return c;
	}
}