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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.util.ElapsedTime;

/*
 * This OpMode illustrates the concept of driving a path based on encoder counts.
 * The code is structured as a LinearOpMode
 *
 * The code REQUIRES that you DO have encoders on the wheels,
 *   otherwise you would use: RobotAutoDriveByTime;
 *
 *  This code ALSO requires that the drive Motors have been configured such that a positive
 *  power command moves them forward, and causes the encoders to count UP.
 *
 *   The desired path in this example is:
 *   - Drive forward for 48 inches
 *   - Spin right for 12 Inches
 *   - Drive Backward for 24 inches
 *   - Stop and close the claw.
 *
 *  The code is written using a method called: encoderDrive(speed, leftInches, rightInches, timeoutS)
 *  that performs the actual movement.
 *  This method assumes that each movement is relative to the last stopping place.
 *  There are other ways to perform encoder based moves, but this method is probably the simplest.
 *  This code uses the RUN_TO_POSITION mode to enable the Motor controllers to generate the run profile
 *
 * 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 By Encoder", group="Robot")
@Disabled
public class RobotAutoDriveByEncoder_Linear extends LinearOpMode {

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

    private ElapsedTime     runtime = new ElapsedTime();

    // Calculate the COUNTS_PER_INCH for your specific drive train.
    // Go to your motor vendor website to determine your motor's COUNTS_PER_MOTOR_REV
    // For external drive gearing, set DRIVE_GEAR_REDUCTION as needed.
    // For example, use a value of 2.0 for a 12-tooth spur gear driving a 24-tooth spur gear.
    // This is gearing DOWN for less speed and more torque.
    // For gearing UP, use a gear ratio less than 1.0. Note this will affect the direction of wheel rotation.
    static final double     COUNTS_PER_MOTOR_REV    = 1440 ;    // eg: TETRIX Motor Encoder
    static final double     DRIVE_GEAR_REDUCTION    = 1.0 ;     // No External Gearing.
    static final double     WHEEL_DIAMETER_INCHES   = 4.0 ;     // For figuring circumference
    static final double     COUNTS_PER_INCH         = (COUNTS_PER_MOTOR_REV * DRIVE_GEAR_REDUCTION) /
                                                      (WHEEL_DIAMETER_INCHES * 3.1415);
    static final double     DRIVE_SPEED             = 0.6;
    static final double     TURN_SPEED              = 0.5;

    @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);

        leftDrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
        rightDrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);

        leftDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
        rightDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);

        // Send telemetry message to indicate successful Encoder reset
        telemetry.addData("Starting at",  "%7d :%7d",
                          leftDrive.getCurrentPosition(),
                          rightDrive.getCurrentPosition());
        telemetry.update();

        // Wait for the game to start (driver presses PLAY)
        waitForStart();

        // Step through each leg of the path,
        // Note: Reverse movement is obtained by setting a negative distance (not speed)
        encoderDrive(DRIVE_SPEED,  48,  48, 5.0);  // S1: Forward 47 Inches with 5 Sec timeout
        encoderDrive(TURN_SPEED,   12, -12, 4.0);  // S2: Turn Right 12 Inches with 4 Sec timeout
        encoderDrive(DRIVE_SPEED, -24, -24, 4.0);  // S3: Reverse 24 Inches with 4 Sec timeout

        telemetry.addData("Path", "Complete");
        telemetry.update();
        sleep(1000);  // pause to display final telemetry message.
    }

    /*
     *  Method to perform a relative move, based on encoder counts.
     *  Encoders are not reset as the move is based on the current position.
     *  Move will stop if any of three conditions occur:
     *  1) Move gets to the desired position
     *  2) Move runs out of time
     *  3) Driver stops the OpMode running.
     */
    public void encoderDrive(double speed,
                             double leftInches, double rightInches,
                             double timeoutS) {
        int newLeftTarget;
        int newRightTarget;

        // Ensure that the OpMode is still active
        if (opModeIsActive()) {

            // Determine new target position, and pass to motor controller
            newLeftTarget = leftDrive.getCurrentPosition() + (int)(leftInches * COUNTS_PER_INCH);
            newRightTarget = rightDrive.getCurrentPosition() + (int)(rightInches * COUNTS_PER_INCH);
            leftDrive.setTargetPosition(newLeftTarget);
            rightDrive.setTargetPosition(newRightTarget);

            // Turn On RUN_TO_POSITION
            leftDrive.setMode(DcMotor.RunMode.RUN_TO_POSITION);
            rightDrive.setMode(DcMotor.RunMode.RUN_TO_POSITION);

            // reset the timeout time and start motion.
            runtime.reset();
            leftDrive.setPower(Math.abs(speed));
            rightDrive.setPower(Math.abs(speed));

            // keep looping while we are still active, and there is time left, and both motors are running.
            // Note: We use (isBusy() && isBusy()) in the loop test, which means that when EITHER motor hits
            // its target position, the motion will stop.  This is "safer" in the event that the robot will
            // always end the motion as soon as possible.
            // However, if you require that BOTH motors have finished their moves before the robot continues
            // onto the next step, use (isBusy() || isBusy()) in the loop test.
            while (opModeIsActive() &&
                   (runtime.seconds() < timeoutS) &&
                   (leftDrive.isBusy() && rightDrive.isBusy())) {

                // Display it for the driver.
                telemetry.addData("Running to",  " %7d :%7d", newLeftTarget,  newRightTarget);
                telemetry.addData("Currently at",  " at %7d :%7d",
                                            leftDrive.getCurrentPosition(), rightDrive.getCurrentPosition());
                telemetry.update();
            }

            // Stop all motion;
            leftDrive.setPower(0);
            rightDrive.setPower(0);

            // Turn off RUN_TO_POSITION
            leftDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
            rightDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);

            sleep(250);   // optional pause after each move.
        }
    }
}
