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package org.firstinspires.ftc.robotcontroller.external.samples;

import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.NormalizedColorSensor;
import com.qualcomm.robotcore.hardware.NormalizedRGBA;
import com.qualcomm.robotcore.hardware.SwitchableLight;

/*
 * This OpMode illustrates the concept of driving up to a line and then stopping.
 * The code is structured as a LinearOpMode
 *
 * The Sensor used here can be a REV Color Sensor V2 or V3.  Make sure the white LED is turned on.
 * The sensor can be plugged into any I2C port, and must be named "sensor_color" in the active configuration.
 *
 *   Depending on the height of your color sensor, you may want to set the sensor "gain".
 *   The higher the gain, the greater the reflected light reading will be.
 *   Use the SensorColor sample in this folder to determine the minimum gain value that provides an
 *   "Alpha" reading of 1.0 when you are on top of the white line.  In this sample, we use a gain of 15
 *   which works well with a Rev V2 color sensor
 *
 *   Setting the correct WHITE_THRESHOLD value is key to stopping correctly.
 *   This should be set halfway between the bare-tile, and white-line "Alpha" values.
 *   The reflected light value can be read on the screen once the OpMode has been INIT, but before it is STARTED.
 *   Move the sensor on and off the white line and note the min and max readings.
 *   Edit this code to make WHITE_THRESHOLD halfway between the min and max.
 *
 *   Use Android Studio to Copy this Class, and Paste it into your team's code folder with a new name.
 *   Remove or comment out the @Disabled line to add this OpMode to the Driver Station OpMode list
 */

@Autonomous(name="Robot: Auto Drive To Line", group="Robot")
@Disabled
public class RobotAutoDriveToLine_Linear extends LinearOpMode {

    /* Declare OpMode members. */
    private DcMotor         leftDrive   = null;
    private DcMotor         rightDrive  = null;

    /** The variable to store a reference to our color sensor hardware object */
    NormalizedColorSensor colorSensor;

    static final double     WHITE_THRESHOLD = 0.5;  // spans between 0.0 - 1.0 from dark to light
    static final double     APPROACH_SPEED  = 0.25;

    @Override
    public void runOpMode() {

        // Initialize the drive system variables.
        leftDrive  = hardwareMap.get(DcMotor.class, "left_drive");
        rightDrive = hardwareMap.get(DcMotor.class, "right_drive");

        // To drive forward, most robots need the motor on one side to be reversed, because the axles point in opposite directions.
        // When run, this OpMode should start both motors driving forward. So adjust these two lines based on your first test drive.
        // Note: The settings here assume direct drive on left and right wheels.  Gear Reduction or 90 Deg drives may require direction flips
        leftDrive.setDirection(DcMotor.Direction.REVERSE);
        rightDrive.setDirection(DcMotor.Direction.FORWARD);

        // If there are encoders connected, switch to RUN_USING_ENCODER mode for greater accuracy
        // leftDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
        // rightDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);

        // Get a reference to our sensor object. It's recommended to use NormalizedColorSensor over
        // ColorSensor, because NormalizedColorSensor consistently gives values between 0 and 1, while
        // the values you get from ColorSensor are dependent on the specific sensor you're using.
        colorSensor = hardwareMap.get(NormalizedColorSensor.class, "sensor_color");

        // If necessary, turn ON the white LED (if there is no LED switch on the sensor)
        if (colorSensor instanceof SwitchableLight) {
            ((SwitchableLight)colorSensor).enableLight(true);
        }

        // Some sensors allow you to set your light sensor gain for optimal sensitivity...
        // See the SensorColor sample in this folder for how to determine the optimal gain.
        // A gain of 15 causes a Rev Color Sensor V2 to produce an Alpha value of 1.0 at about 1.5" above the floor.
        colorSensor.setGain(15);

        // Wait for driver to press PLAY)
        // Abort this loop is started or stopped.
        while (opModeInInit()) {

            // Send telemetry message to signify robot waiting;
            telemetry.addData("Status", "Ready to drive to white line.");    //

            // Display the light level while we are waiting to start
            getBrightness();
        }

        // Start the robot moving forward, and then begin looking for a white line.
        leftDrive.setPower(APPROACH_SPEED);
        rightDrive.setPower(APPROACH_SPEED);

        // run until the white line is seen OR the driver presses STOP;
        while (opModeIsActive() && (getBrightness() < WHITE_THRESHOLD)) {
            sleep(5);
        }

        // Stop all motors
        leftDrive.setPower(0);
        rightDrive.setPower(0);
    }

    // to obtain reflected light, read the normalized values from the color sensor.  Return the Alpha channel.
    double getBrightness() {
        NormalizedRGBA colors = colorSensor.getNormalizedColors();
        telemetry.addData("Light Level (0 to 1)",  "%4.2f", colors.alpha);
        telemetry.update();

        return colors.alpha;
    }
}
