#include "WPILib.h"
#include "Shooter.h"
#include <cmath>

#ifndef BUTTON_LAYOUT
#define BUTTON_LAYOUT

#define TRIGGER 	1  	// Trigger button number
#define THUMB 		2	// Thumb button number
#define RAMP_RAISE  3   // Button 3 for Raising Ramp
#define RAMP_LOWER  4	// Button 4 to lower ramp.

#endif  // BUTTON_LAYOUT

class Robot: public IterativeRobot
{
	TalonSRX left_drive, right_drive;
	CANTalon shooter1, shooter2,
			ramp;
	RobotDrive drive;
	Shooter shooter;
	Joystick driver_stick, operator_stick;
	Counter ramp_height;
public:
	Robot():
		left_drive(0),			// Left DriveTrain Talons plug into PWM channel 1 with a Y-spliter
		right_drive(1),			// Right DriveTrain Talons plug  	// left wheel 2
		shooter1(10),  			// shooter drive 1
		shooter2(11),   		// shooter drive 2
		ramp(12),
		drive(&left_drive, &right_drive),
		ramp_height(),
		shooter(				// initialize Shooter object.
				&shooter1, &shooter2, &ramp, &ramp_height),
		driver_stick(0), 				// right stick (operator)
		operator_stick(1)				// left stick (driver)
	{

	}

private:
	// instance variables
	bool pickupRunning;  // don't want to spam the Talon with set messages.  Toggle the pickup when a button is pressed or released.
	bool inverting;
	float theta;
	float old_theta;

	LiveWindow *lw = LiveWindow::GetInstance();
	SendableChooser *chooser;
	const std::string autoNameDefault = "Default";
	const std::string autoNameCustom = "My Auto";
	std::string autoSelected;

	void RobotInit()
	{
		chooser = new SendableChooser();
		chooser->AddDefault(autoNameDefault, (void*)&autoNameDefault);
		chooser->AddObject(autoNameCustom, (void*)&autoNameCustom);
		SmartDashboard::PutData("Auto Modes", chooser);
		ramp_height.SetUpSource(1);
		ramp.Enable();
		shooter1.Enable();
		shooter2.Enable();
		left_drive.SetInverted(true);
		right_drive.SetInverted(true);
		inverting = false;
	}


	/**
	 * This autonomous (along with the chooser code above) shows how to select between different autonomous modes
	 * using the dashboard. The sendable chooser code works with the Java SmartDashboard. If you prefer the LabVIEW
	 * Dashboard, remove all of the chooser code and uncomment the GetString line to get the auto name from the text box
	 * below the Gyro
	 *
	 * You can add additional auto modes by adding additional comparisons to the if-else structure below with additional strings.
	 * If using the SendableChooser make sure to add them to the chooser code above as well.
	 */
	void AutonomousInit()
	{
		shooter.CalibrateRamp();
		shooter.SetRamp(Shoot);

		autoSelected = *((std::string*)chooser->GetSelected());
		//std::string autoSelected = SmartDashboard::GetString("Auto Selector", autoNameDefault);
		std::cout << "Auto selected: " << autoSelected << std::endl;

		if(autoSelected == autoNameCustom){
			//Custom Auto goes here
		} else {
			//Default Auto goes here
		}
	}

	void AutonomousPeriodic()
	{
		if(autoSelected == autoNameCustom){
			//Custom Auto goes here
		} else {
			//Default Auto goes here
		}
	}

	void TeleopInit()
	{
		shooter.CalibrateRamp();
		shooter.SetRamp(Shoot); // start in the full up position!
	}

	void TeleopPeriodic()
	{
		if (driver_stick.GetRawButton(THUMB))
		{
			left_drive.Set(driver_stick.GetThrottle() * driver_stick.GetTwist);
			right_drive.Set(-1 * driver_stick.GetThrottle() * driver_stick.GetTwist);
		}
		else
		{
			UpdateDrive();
		}

		if(operator_stick.GetRawButton(RAMP_RAISE))
		{
			ramp.Set(1);
		}
		else if(operator_stick.GetRawButton(RAMP_LOWER))
		{
			ramp.Set(-1);
		}
		else
		{
			ramp.Set(0);
		}

		if(operator_stick.GetRawButton(THUMB) && !pickupRunning)
		{
			shooter.PickUp();
			pickupRunning = true;
		}
		else if(pickupRunning)
		{
			shooter.PickUp(false);
			pickupRunning = false;
		}

		if(driver_stick.GetRawButton(THUMB) && !inverting)
		{
			left_drive.SetInverted(!left_drive.GetInverted());
			right_drive.SetInverted(!right_drive.GetInverted());
			inverting = true;
		}
		else if(!driver_stick.GetRawButton(THUMB))
		{
			inverting = false;
		}

		float power = (1.0 - operator_stick.GetThrottle()) / 2.0;
		shooter.SetPower(power);
	}

	void TestPeriodic()
	{
		lw->Run();
	}

	void UpdateDrive()
	{
		//regenerating theta
		float x = driver_stick.GetX();
		float y = driver_stick.GetY();
		if (x < 0)
		{
			theta = atan(y / x) * -1;
		}
		else
		{
			theta = atan(y / x);
		}
		theta = theta / 6.283185307;	// TODO: This math is optimized for humans. Fix it after initial debugging.
		theta = theta + 1;	// I know this is a lot of steps, but I want it to be really readable, because there are at least two stupid mistakes I've yet to find.
		if (theta != old_theta)
		{
			//actually update motors
			old_theta = theta;
			if (theta < 0.125)
			{
				left_drive.Set(1);
				right_drive.Set()
			}
		}
	}
};

START_ROBOT_CLASS(Robot)