// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.

package org.wpilib.examples.drivedistanceoffboard;

/**
 * A simplified stub class that simulates the API of a common "smart" motor controller.
 *
 * <p>Has no actual functionality.
 */
public class ExampleSmartMotorController {
  public enum PIDMode {
    kPosition,
    kVelocity,
    kMovementWitchcraft
  }

  double value;

  /**
   * Creates a new ExampleSmartMotorController.
   *
   * @param port The port for the controller.
   */
  public ExampleSmartMotorController(int port) {}

  /**
   * Example method for setting the PID gains of the smart controller.
   *
   * @param kp The proportional gain.
   * @param ki The integral gain.
   * @param kd The derivative gain.
   */
  public void setPID(double kp, double ki, double kd) {}

  /**
   * Example method for setting the setpoint of the smart controller in PID mode.
   *
   * @param mode The mode of the PID controller.
   * @param setpoint The controller setpoint.
   * @param arbFeedforward An arbitrary feedforward output (from -1 to 1).
   */
  public void setSetpoint(PIDMode mode, double setpoint, double arbFeedforward) {}

  /**
   * Places this motor controller in follower mode.
   *
   * @param leader The leader to follow.
   */
  public void follow(ExampleSmartMotorController leader) {}

  /**
   * Returns the encoder distance.
   *
   * @return The current encoder distance.
   */
  public double getEncoderDistance() {
    return 0;
  }

  /**
   * Returns the encoder rate.
   *
   * @return The current encoder rate.
   */
  public double getEncoderRate() {
    return 0;
  }

  /** Resets the encoder to zero distance. */
  public void resetEncoder() {}

  public void setThrottle(double throttle) {
    value = throttle;
  }

  public double getThrottle() {
    return value;
  }

  public void setInverted(boolean isInverted) {}

  public boolean getInverted() {
    return false;
  }

  public void disable() {}

  public void stopMotor() {}
}
