//Add a button on joystick that activates "auto" to drive to 40 inches away and another to shoot when at 40 inches away (use the little joystick on both drive and shooter stick)
//Sonar in auto: drive till 40in away (dashboard value) and shoot
#include "WPILib.h"
#include "SmartDashboard/SmartDashboard.h"
#include <iostream>
#include <math.h>
#include <vector>
#include <sstream>
class RobotDemo : public SimpleRobot
{
  RobotDrive myRobot;
  float potVal, multiplier, throttle;
  bool collectorExtended, shooting, compressing;
  float upLimit;
  Joystick Rstick, Lstick;
  Solenoid collectorSole1, collectorSole2;
  Compressor compressor;
  Jaguar Left1, Left2, Left3, Right1, Right2, Right3, RightArmMotor1, RightArmMotor2, LeftArmMotor1, LeftArmMotor2, CollectorMotor1;
  AnalogChannel armPot;
  //Ultrasonic
  AnalogChannel BallSonicLeft, BallSonicRight, WallSonicLeft, WallSonicRight;
  DigitalOutput BallLeft, BallRight, WallLeft, WallRight;
public:
  RobotDemo():
    //Joysticks
    Rstick(1),
    Lstick(2),
    //Pot
    armPot(6),
    //Ultrasonic
    BallSonicLeft(1),
    BallSonicRight(2),
    WallSonicLeft(3),
    WallSonicRight(4),
    BallLeft(1,4),
    WallLeft(1,5),
    BallRight(2,4),
    WallRight(2,5),
    //Compressor
    compressor(2, 5, 1, 1),
    //Solenoids
    collectorSole1(1),
    collectorSole2(2),
    //Drive Motors
    Left1(1,1),
    Left2(1,2),
    Left3(1,3),
    Right1(2,1),
    Right2(2,2),
    Right3(2,3),
    //Shooter Motors
    LeftArmMotor1(1, 4),
    LeftArmMotor2(1, 5),
    RightArmMotor1(2, 4),
    RightArmMotor2(2, 5),
    //Collector Motor
    CollectorMotor1(1, 6),
    myRobot(Left1, Left2, Right1, Right2) {
      GetWatchdog().SetEnabled(false);
    }
  void RobotInit() {
    DashboardSetup();
    multiplier = 1.0f;
    upLimit = 130.0;
    compressor.Start();
    shooting = false;
    compressing = true;
    throttle=0;
  }
  void DashboardSetup() {
    SmartDashboard::PutNumber("Throttle", throttle);
    SmartDashboard::PutNumber("upLimit", 120.0f);
    //SmartDashboard::PutString("Auto", cmd);
    SmartDashboard::PutNumber("armPot", potToDegrees(armPot.GetAverageVoltage()));
    SmartDashboard::PutNumber("Log Level", 1);
    //Ultrasonic
    SmartDashboard::PutNumber("Wall Left", voltToDistance(WallSonicLeft.GetAverageVoltage(),true));
    SmartDashboard::PutNumber("Wall Right", voltToDistance(WallSonicRight.GetAverageVoltage(),true));
    SmartDashboard::PutNumber("Ball Left", voltToDistance(BallSonicLeft.GetAverageVoltage()));
    SmartDashboard::PutNumber("Ball Right", voltToDistance(BallSonicRight.GetAverageVoltage()));
    //Autonomous values
    SmartDashboard::PutNumber("AutoDistance",350.0f);
    SmartDashboard::PutNumber("AutoYValue",350.0f);
    SmartDashboard::PutNumber("AutoPower",0.455f);
    SmartDashboard::PutNumber("AutoAngle",130.0f);
    SmartDashboard::PutNumber("AutoCorrection",0.06f);
    SmartDashboard::PutNumber("Inital Drive Timeout", 2);
    SmartDashboard::PutNumber("First Shot Start", 2.5);
    SmartDashboard::PutNumber("First Shot Stop", 3);
    SmartDashboard::PutNumber("Reverse direction start",3.5);
    SmartDashboard::PutNumber("Reverse direction stop",5.5);
    //Shooter presets
    SmartDashboard::PutNumber("ShortRange",0.465f); //Power for the shooter when against the low goal
    SmartDashboard::PutNumber("ShooterButtonPower10",0.605f);
    SmartDashboard::PutNumber("ShooterButtonPower7",1.0f);
    SmartDashboard::PutNumber("ShooterButtonPower8",0.5f);
    //Bool switches
    SmartDashboard::PutBoolean("OneBallAuto",false);
    SmartDashboard::PutBoolean("Use Ultrasonic",true);
    SmartDashboard::PutBoolean("Daniel Mode",false);
    SmartDashboard::PutBoolean("CollectorState",false);
    SmartDashboard::PutBoolean("Compressor Enabled", true);
    SmartDashboard::PutBoolean("Compressor Running", compressing);
    //Battery voltage
  }
  void updateDashboard() {
    SmartDashboard::PutNumber("Throttle", throttle);
    SmartDashboard::PutNumber("armPot", potToDegrees(armPot.GetAverageVoltage()));
    SmartDashboard::PutNumber("Wall Left", voltToDistance(WallSonicLeft.GetAverageVoltage(),true));
    SmartDashboard::PutNumber("Wall Right", voltToDistance(WallSonicRight.GetAverageVoltage(),true));
    SmartDashboard::PutNumber("Ball Left", voltToDistance(BallSonicLeft.GetAverageVoltage()));
    SmartDashboard::PutNumber("Ball Right", voltToDistance(BallSonicRight.GetAverageVoltage()));
    SmartDashboard::PutNumber("upLimit", upLimit);
    SmartDashboard::PutBoolean("Compressor Running", compressing);
    if(upLimit > 167) {
      upLimit = 167;
    }
  }
  void shootRobot(float power=0) {
    setMotorValue(4, 1, cvt(power));
    setMotorValue(5, 1, cvt(power));
    setMotorValue(4, 2, cvt(-power));
    setMotorValue(5, 2, cvt(-power));
  }
  void logMsg(std::string message, int level) {
    if((int)SmartDashboard::GetNumber("Log Level") % level == 0) {
      printf((message+"\n").c_str());
    }
  }
  void driveRobot(float x, float y) {
    if(y>1.0f) {
      y=1.0f;
    } else if(y!=0.0f&&y<-1.0f) {
      y=-1.0f;
    }
    int leftPower = ((y+x)/2+1)*127+1;
    int rightPower = ((y-x)/2+1)*127+1;
    //logMsg("leftPower: "+toString<int>(leftPower),3);
    //logMsg("rightPower: "+toString<int>(rightPower),3);
    //logMsg("JoyX: "+toString<float>(Rstick.GetX()),3);
    //logMsg("JoyY: "+toString<float>(Rstick.GetY()),3);
    setMotorValue(1, 1, leftPower);
    setMotorValue(2, 1, leftPower);
    setMotorValue(3, 1, leftPower);
    setMotorValue(1, 2, rightPower);
    setMotorValue(2, 2, rightPower);
    setMotorValue(3, 2, rightPower);
  }
  template<typename numbertype> string toString(numbertype a) {
    stringstream ss;
    ss<<a;
    string s = ss.str();
    return s;
  }
  float voltToDistance(float a,bool wall=false) {
    if(wall) {
      return (a / 0.00488f) / 2.54f;
    } else {
      return (a / 0.000976562f) / 25.4f;
    }
  }
  float potToDegrees(float a) {
    float max = -.0003948;
    float min = 5.0245547;
    float b = a - max;
    min = min - max; // ~5.0027
    max = max - max; //=0
    return 300 - ((b + max) * (300 / min));
  }
  int cvt(float input) {
    return input * 127.0f + 128;
  }
  void setMotorValue(int motor, int subwayStation = 1, int value = 127) {
    if(subwayStation == 1) {
      switch(motor) {
          //Drive motors
        case 1:
          Left1.SetRaw(value);
          break;
        case 2:
          Left2.SetRaw(value);
          break;
        case 3:
          Left3.SetRaw(value);
          break;
        case 4:
          LeftArmMotor1.SetRaw(value);
          break;
        case 5:
          LeftArmMotor2.SetRaw(value);
          break;
        case 6:
          CollectorMotor1.SetRaw(value);
          break;
        case 7:
          break;
        case 8:
          break;
        case 9:
          break;
        case 10:
          break;
      }
    } else if(subwayStation == 2) {
      switch(motor) {
          //Shooter motors
        case 1:
          Right1.SetRaw(value);
          break;
        case 2:
          Right2.SetRaw(value);
          break;
        case 3:
          Right3.SetRaw(value);
          break;
        case 4:
          RightArmMotor1.SetRaw(value);
          break;
        case 5:
          RightArmMotor2.SetRaw(value);
          break;
        case 6:
          break;
        case 7:
          break;
        case 8:
          break;
        case 9:
          break;
        case 10:
          break;
      }
    }
  }
  void Test() {
  }
  void Autonomous() {
    myRobot.SetSafetyEnabled(false);
    int avgDist;
    int commandIndex=0;
    int i=0;
    int c=0;
    float initalDriveTimeout=(SmartDashboard::GetNumber("Inital Drive Timeout"))*200;
    //Incase the wall ultrasonic fails, there will be a timeout that will force the motors to stop after a given time.
    float initalDriveTimeout=(SmartDashboard::GetNumber("Inital Drive Timeout"))*200;
    //The time when the shooter motors will begin to fire the ball
    float startShootingFirst=(SmartDashboard::GetNumber("First Shot Start"))*200;
    //The time when the shooter motors will stop (set power to 0)
    float stopShootingFirst=(SmartDashboard::GetNumber("First Shot Stop"))*200;
    //The time to start when getting the second ball
    float getSecondBallStart=(SmartDashboard::GetNumber("Reverse direction start"))*200;
    //The time to stop when getting the second ball
    float getSecondBallStop=(SmartDashboard::GetNumber("Reverse direction stop"))*200;
    //The power the shooter will use (in a percent)
    float power=SmartDashboard::GetNumber("AutoPower");
    compressing=false;
    collectorSole1.Set(false);
    collectorSole2.Set(true);
    WallLeft.Set(1);
    BallLeft.Set(0);
    WallRight.Set(1);
    BallRight.Set(0);
    SmartDashboard::PutBoolean("CollectorState",true);
    while(IsEnabled()&&IsAutonomous()) {
      if(i-c==0){ //The first statement to check for. Will run at start because i-c will be 0 (shouldn't need to be changed)
        if(voltToDistance(WallSonicLeft.GetAverageVoltage(),true)>=40.0f){ //Particular only to the first drive step
          driveRobot(1.0f,correction);
        }
        if(c==initalDriveTimeout){ //Acts as the else (ie: motor stopping, etc)
          driveRobot(0.0f,0.0f);
          i=1; //Could be added to the dashboard as a step custimization thing (basically 'i' is the next step to run)
          c=0; //Reset the timer
        }
      }
      if(i-c==1&&c>startShootingFirst){ //The next 'step' in auto, shooting the motors when startShootingFirst is true
        shootRobot(power);
        if(c==stopShootingFirst){ //Stop the motors when the end time is reached
          shootRobot(0.0f);
          i=2; //Run step 2 next
          c=0;
        }
      }
      updateDashboard();
      if(i % 100 == 0 && compressing && compressor.GetPressureSwitchValue() == 1) {
        compressor.Stop();
        compressing = false;
        logMsg("Stopping the compressor",2);
      }
      if(i % 100 == 0 && !compressing && compressor.GetPressureSwitchValue() == 0) {
        compressor.Start();
        compressing = true;
        logMsg("Starting the compressor",2);
      }
      Wait(0.005f);
      i++;
      c++;
    }
    i=0;
    compressing = false;
    compressor.Stop();
  }
  void OperatorControl() {
    myRobot.SetSafetyEnabled(false);
    int i = 0;
    int cur=0;
    bool swap=false;
    collectorSole1.Set(true);
    collectorSole2.Set(false);
    compressing = false;
    logMsg("Starting Teleop",1);
    SmartDashboard::PutBoolean("CollectorState",false);
    while(IsEnabled() && IsOperatorControl()) {
      if(cur==50) {
        cur=0;
        WallLeft.Set(swap?1:0);
        BallRight.Set(swap?1:0);
        WallRight.Set(swap?0:1);
        BallRight.Set(swap?0:1);
        swap=!swap;
      }
      if(Lstick.GetRawButton(9)==1){
        throttle = (-Lstick.GetRawAxis(4)+1)/2;
      }else if(Lstick.GetRawButton(10)){
        throttle = SmartDashboard::GetNumber("ShooterButtonPower10");
      }else if(Lstick.GetRawButton(7)){
        throttle = SmartDashboard::GetNumber("ShooterButtonPower7");
      }else if(Lstick.GetRawButton(8)){
        throttle = SmartDashboard::GetNumber("ShooterButtonPower8");
      }
      if(SmartDashboard::GetBoolean("Daniel Mode")) {
        driveRobot(-Rstick.GetY(),Rstick.GetZ()+Rstick.GetX());
      } else {
        driveRobot(Rstick.GetY(),Rstick.GetZ()+Rstick.GetX());
      }
      //Log things
      if(i % 200 == 0) {
        //logMsg(toString(compressor.GetPressureSwitchValue()),2);
        //logMsg("armPot value: "+toString(armPot.GetAverageVoltage(),11));
        //logMsg("Converted armPot value: "+toString(armPot.GetAverageVoltage(),11));
      }
      if(SmartDashboard::GetBoolean("Compressor Enabled")){
        if(i % 100 == 0 && compressing && compressor.GetPressureSwitchValue() == 1) {
          compressor.Stop();
          compressing = false;
          logMsg("Stopping the compressor",2);
        }
        if(i % 100 == 0 && !compressing && compressor.GetPressureSwitchValue() == 0) {
          compressor.Start();
          compressing = true;
          logMsg("Starting the compressor... again",2);
        }
      }
      if(Lstick.GetRawButton(3)){
        upLimit=100.0f;
      }
      if(Lstick.GetRawButton(4)){
        upLimit=120.0f;
      }
      if(Lstick.GetRawButton(5)){
        upLimit=90.0f;
      }
      if(Lstick.GetRawButton(6)){
        upLimit=130.0f;
      }
      updateDashboard();
      if(Lstick.GetRawButton(1)==1&&Lstick.GetRawButton(2)==1){
        throttle=SmartDashboard::GetNumber("ShortRange");
        shooting = true;
        logMsg("Firing",13);
        logMsg("Collector is extended, going to fire",17);
        shootRobot(throttle);
        setMotorValue(6, 1, 1);
     }else if(Lstick.GetRawButton(1)==1) {
        //Move arm motors based on throttle
        shooting = true;
        logMsg("Firing",13);
        logMsg("Collector is extended, going to fire",17);
        shootRobot(throttle);
        setMotorValue(6, 1, 1);
      } else if(Lstick.GetRawButton(1)==1&&(upLimit<=potToDegrees(armPot.GetAverageVoltage()))) {
        shooting = false;
        logMsg("Stopping shooter motor",13);
        logMsg("Stopping collector motor",17);
        shootRobot(0);
      } else if(Lstick.GetRawButton(2)==1) {
        //Reverse the arm motors
        shooting = false;
        shootRobot(-0.1f);
      } else {
        shooting = false;
        //Stop all motors
        shootRobot(0);
      }
      if(Rstick.GetRawButton(9)==1) {
        SmartDashboard::PutBoolean("CollectorState",true);
        collectorExtended = true;
        collectorSole1.Set(false);
        collectorSole2.Set(true);
      } else if(Rstick.GetRawButton(10)==1) {
        SmartDashboard::PutBoolean("CollectorState",false);
        collectorExtended = false;
        collectorSole1.Set(true);
        collectorSole2.Set(false);
      }
      if(Lstick.GetRawButton(11)==1) {
        setMotorValue(6, 1, 1);
      } else if(Lstick.GetRawButton(12)==1) {
        setMotorValue(6, 1, 255);
      } else if(!shooting) {
        setMotorValue(6, 1, 0);
      }
      cur++;
      i++;
      Wait(0.005f);
    }
  }
};
START_ROBOT_CLASS(RobotDemo);