/*
 * MIT License
 *
 * Copyright (c) 2022 PhotonVision
 *
 * Permission is hereby granted, free of charge, to any person obtaining a copy
 * of this software and associated documentation files (the "Software"), to deal
 * in the Software without restriction, including without limitation the rights
 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 * copies of the Software, and to permit persons to whom the Software is
 * furnished to do so, subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in all
 * copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 * SOFTWARE.
 */

package org.photonlib.examples.simposeest.robot;

import edu.wpi.first.math.filter.SlewRateLimiter;
import edu.wpi.first.wpilibj.XboxController;

public class OperatorInterface {
    private XboxController opCtrl = new XboxController(0);

    // Slew rate limiters to make joystick inputs more gentle; 1/3 sec from 0
    // to 1.
    private SlewRateLimiter speedLimiter = new SlewRateLimiter(3);
    private SlewRateLimiter rotLimiter = new SlewRateLimiter(3);

    public OperatorInterface() {}

    public double getFwdRevSpdCmd() {
        // Get the x speed. We are inverting this because Xbox controllers return
        // negative values when we push forward.
        return -speedLimiter.calculate(opCtrl.getLeftY()) * Constants.kMaxSpeed;
    }

    public double getRotateSpdCmd() {
        // Get the rate of angular rotation. We are inverting this because we want a
        // positive value when we pull to the left (remember, CCW is positive in
        // mathematics). Xbox controllers return positive values when you pull to
        // the right by default.
        return -rotLimiter.calculate(opCtrl.getRightX()) * Constants.kMaxAngularSpeed;
    }

    public boolean getSimKickCmd() {
        return opCtrl.getXButtonPressed();
    }
}
