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package edu.wpi.first.wpilibj.templates;
import edu.wpi.first.wpilibj.*;
// import edu.wpi.first.wpilibj.smartdashboard.SmartDashboardData; //WORKING ON THIS(1)


public class Robot4334 extends SimpleRobot {
                                                //DECLARE ALL METHODS IN INIT AND SIMPLEROBOT 
    public RobotDrive drivetrain; 
    public Joystick joystick;
    public Joystick KTrigger;
    public Gyro gyro; //gyro
    public Timer timer;
//    public Button button;  // WORKING ON THIS(1)
   
   
 
    public void robotInit(){ //REMEMBER TO INITIALIZE EVERYTHING
        drivetrain = new RobotDrive(1, 2, 3, 4); 
        joystick = new Joystick(1);   
        KTrigger = new Joystick(1);
        gyro = new Gyro(1);
    }
 
 
    public void autonomous(){
        while(isAutonomous()&&isEnabled()){ //Make sure in autonomous
            timer.start(); //See how long program runs
            gyro.reset();
            int i=0;
            while(i<4){   
                drivetrain.drive(0.5,0.0); //START GOING STRAIGHT
                Timer.delay(1.5);
                drivetrain.drive(0.0,0.0); //STOP
                Timer.delay(0.5);
                gyro.reset();
                double angle = 0;
                do {
                    drivetrain.drive(0.0, 0.15); //TURN
                    Timer.delay(0.5);
                    angle += gyro.getAngle(); //
                    gyro.reset();
                    log("Gyro reads "+angle);
                }while(angle<90); //Keep going in increments of .15 until gyro returns more than 90 degrees
                drivetrain.drive(0.0,0.0); //STOP
                Timer.delay(0.5);
                i++;
            }
            if(isAutonomous()&&isEnabled()){
                double timerTime = timer.get(); timer.stop(); timer.reset();
                log("Done. Autonomous took "+timerTime+" seconds long to complete."); //GET RID OF THIS WHEN IN COMPETITION
            }
        }
    }
 
    public void operatorControl() {
        while (isOperatorControl() && isEnabled()){ //Make sure in driver
            if(KTrigger.getTrigger())
                {drivetrain.drive(0,0);
                log("Brake enabled");}
            double YAxis = joystick.getAxis(Joystick.AxisType.kY);
            double XAxis = joystick.getAxis(Joystick.AxisType.kX);
            if(XAxis==0){
                XAxis=0.2;
            }
            drivetrain.drive(YAxis,XAxis);
        }
    }
//    public abstract class Button extends Object implements SmartDashboardData{} //WORKING ON THIS(1)
    public static String log(String theMessage){ // LOGGER -System.out.println function
        System.out.println(theMessage);
        return theMessage;
    }
}