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package org.usfirst.frc.team4272.robot2016;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.GenericHID.Hand;
import org.usfirst.frc.team4272.robotlib.PushButton;
public class Teleop {
private final HwRobot robot;
private final double armSoftStop = 95;//295;
private final PushButton shootButton = new PushButton();
private final Timer time = new Timer();
private double lastTime;
private double currentTime;
private boolean state = false;
public Teleop(HwRobot robot) {
this.robot = robot;
robot.armE.reset();
}
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 = -jsScale(oi.lStick);
//control.rDrive2 = jsScale(oi.rStick);
if (control.PCM == true) {
control.PCM2 = oi.lStick.getTrigger();
control.PCM = oi.rStick.getTrigger();
}
if (oi.lStick.getTrigger()){
control.PCM2 = false;
control.PCM = true;
// SmartDashboard.putData()
}
if (oi.rStick.getTrigger()) {
control.PCM = false;
control.PCM2 = true;
}
if (oi.rStick.getRawButton(2) || oi.lStick.getRawButton(2)) {
currentTime = Timer.getMatchTime();
if(currentTime-lastTime > 0.15){
state = !state;
lastTime = currentTime;
}
if (state){
control.lDrive1 = 0.5;
control.rDrive1 = 0;
}
else if(!state){
control.lDrive1 = 0;
control.rDrive1 = 0.5;
}
}
if(oi.xbox.getRawAxis(1) > 0.2){
control.climber = oi.xbox.getRawAxis(1) ;
}
else if (oi.xbox.getRawAxis(1) < -0.2) {
control.climber = oi.xbox.getRawAxis(1);
}
else {
control.climber = 0;
}
if (oi.xbox.getAButton() == true) {
control.PCM3 = true;
control.PCM4 = false;
}
if(oi.xbox.getBButton()==true) {
control.PCM3 = false;
control.PCM4 =true;
}
// if(oi.xbox.getTriggerAxis(Hand.kRight/*rTrigger*/) > 0 ){
// control.PCM3 = false;
// control.PCM4 = true;
// }
// else {
// control.PCM3 = false;
// control.PCM4 =true;
// }
/*control.lDrive2 = oi.lStick.getTrigger() ? control.lDrive1 : 0;
control.rDrive2 = oi.rStick.getTrigger() ? control.rDrive1 : 0;*/
control.arm = -oi.xbox.getY(Hand.kLeft);
if (control.arm < 0)
control.arm = control.arm*0.2;
double fBall = oi.xbox.getTriggerAxis(Hand.kRight) - oi.xbox.getTriggerAxis(Hand.kLeft);
double bBall = bound(-1, fBall, 0) + oneIf(oi.xbox.getAButton()) - oneIf(oi.xbox.getBButton());
boolean ballL = robot.ballL.get();
control.fBall = bound(-oneIf(ballL), fBall < 0 ? 0.5*fBall : fBall, 1);
control.bBall = bound(-oneIf(ballL), bBall < 0 ? 0.5*bBall : bBall, 1);
/* I'm eyeballing 10 degrees ≈ 50 clicks */
if (robot.armE.pidGet() < 50 && !robot.armL.get()) {
robot.armE.reset();
}
if (oi.xbox.getBumper(Hand.kLeft))
control.arm = 1-(robot.armE.pidGet()/armSoftStop);
else if (oi.xbox.getBumper(Hand.kRight))
control.arm = robot.armE.pidGet()/armSoftStop;
if (shootButton.update(oi.xbox.getXButton())) {
time.reset();
time.start();
}
if (oi.xbox.getXButton()) {
if (time.get() < 0.5) {
control.fBall = control.bBall = -0.5;
} else if (time.get() < 2.5) {
control.bBall = -0.5;
control.fBall = 1;
} else {
control.bBall = 1;
control.fBall = 1;
}
}
if(oi.xbox.getTriggerAxis(Hand.kRight) > 0)
control.camRotate = 1;
else if(oi.xbox.getTriggerAxis(Hand.kLeft) > 0)
control.camRotate = -1;
else
control.camRotate = 0;
control.camTilt = oi.xbox.getX(Hand.kRight);
//if (robot.armE.piedGet() > armSoftStop && control.arm > 0)
// control.arm = 0;
/* 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;
}
}
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