#ifndef AUTODRIVE_H
#define AUTODRIVE_H

#include "Commands/Command.h"
#include "../../DentRobot.h"
#include "../../DentRobot.h"
#include "WPILib.h"

/**
 * @brief Drives the robot without a joystick
 *
 * Drives the robot given a timeout and joystick values
 */
class AutoDrive: public Command {
 private:
  double x, //<! The x value of the simulated joystick value
         y, //<! The y value of the simulated joystick value
         z; //<! The z value of the simulated joystick value
  bool gyro;
 public:
  /**
   * @brief Constructs AutoDrive
   *
   * @param duration Timeout in seconds
   * @param xtmp Joystick x value (default: 0.0)
   * @param ytmp Joystick y value (default: -0.75)
   * @param ztmp Joystick z value (default: 0.0)
   * @param useGyro Use the gyro when driving (default: true)
   */
  AutoDrive(double duration, double xtmp = 0.0, double ytmp = -0.75, double ztmp = 0.0, bool useGyro = true);
  /**
   * @brief Initializes the class
   */
  void Initialize();
  /**
   * @brief Drives the robot
   */
  void Execute();
  /**
   * @brief Checks if the command is finished
   *
   * @return True only if the timeout was reached
   */
  bool IsFinished();
  /**
   * @brief Sets the drivetrain to stop
   */
  void End();
  /**
   * @brief Calls End()
   */
  void Interrupted();
};
#endif
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