/**
 * Copyright (c) 2015-2017 Luke Shumaker.
 * Copyright (c) 2017 Cameron Richards.
 * Copyright (c) 2017 Noah Gaeta.
 * 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;

import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj.DoubleSolenoid;
import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.PIDOutput;
import edu.wpi.first.wpilibj.PIDSourceType;
import edu.wpi.first.wpilibj.PowerDistributionPanel;
import edu.wpi.first.wpilibj.Talon;
import edu.wpi.first.wpilibj.networktables.NetworkTable;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;

import org.usfirst.frc.team4272.robotlib.PIDOutputSplitter;
import org.usfirst.frc.team4272.robotlib.PIDServo;

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)}

	private final PIDOutput
	    rDriveM = new Talon(/*PWM*/0), /* PDP 2, 3 */
	    lDriveM = new Talon(/*PWM*/1), /* PDP 12, 13 */
	    climber = new Talon(/*PWM*/3), /* PDP 4 */
	    camRotate = new PIDServo(8),
	    camTilt = new PIDServo(9);
	public final Encoder   lDriveE = new Encoder(/*DIO*/0,/*DIO*/1, /*reverse*/false);
	public final Encoder   rDriveE = new Encoder(/*DIO*/2,/*DIO*/3, /*reverse*/true);
	public final PowerDistributionPanel PDP = new PowerDistributionPanel(); /* via CAN */
	public final DriverStation ds = DriverStation.getInstance();

	public DoubleSolenoid
		shifter = new DoubleSolenoid(/*PCM*/4, /*PCM*/5),
		ged     = new DoubleSolenoid(/*PCM*/6, /*PCM*/7);
	
	private double maxRate = 0;
	private double minBatt = 20;

	public HwRobot() {
		lDriveE.setDistancePerPulse(10.0/*feet*/ / 1865.75/*pulses*/);
		rDriveE.setDistancePerPulse(10.0/*feet*/ / 1865.75/*pulses*/);

		lDriveE.setPIDSourceType(PIDSourceType.kRate);
		rDriveE.setPIDSourceType(PIDSourceType.kRate);
		//PDP.initTable(NetworkTable.getTable("PDP"));
	}

	public void run(Control c) {
		lDriveM.pidWrite(c.lDrive);
		rDriveM.pidWrite(-c.rDrive);
		climber.pidWrite(c.climber);
		camRotate.pidWrite(c.camRotate);
		camTilt.pidWrite(c.camTilt);

		shifter.set(c.highGear ? DoubleSolenoid.Value.kReverse : DoubleSolenoid.Value.kForward);
		ged.set(c.gedOut ? DoubleSolenoid.Value.kReverse : DoubleSolenoid.Value.kForward);

		double rate = Math.abs((lDriveE.getRate()+rDriveE.getRate())/2);
		SmartDashboard.putNumber("lDriveE distance", lDriveE.getDistance());
		SmartDashboard.putNumber("lDriveE rate", Math.abs(lDriveE.getRate()));
		SmartDashboard.putNumber("rDriveE distance", rDriveE.getDistance());
		SmartDashboard.putNumber("rDriveE rate", Math.abs(rDriveE.getRate()));
		SmartDashboard.putNumber("rate", rate);
		if (rate > maxRate)
			maxRate = rate;
		SmartDashboard.putNumber("maxRate", maxRate);

		double batt = ds.getBatteryVoltage();
		SmartDashboard.putNumber("batt", batt);
		if (batt < minBatt)
			minBatt = batt;
		SmartDashboard.putNumber("minBatt", minBatt);

		SmartDashboard.putBoolean("highGear", c.highGear);
		SmartDashboard.putBoolean("gedOut", c.gedOut);

		//PDP.updateTable();
		//SmartDashboard.putData("PDP", PDP);
	}
}