/*----------------------------------------------------------------------------*/
/* Copyright (c) 2019-2020 FIRST. All Rights Reserved.                        */
/* Open Source Software - may be modified and shared by FRC teams. The code   */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project.                                                               */
/*----------------------------------------------------------------------------*/

#include <frc/geometry/Translation2d.h>
#include <frc/kinematics/MecanumDriveKinematics.h>
#include <frc/trajectory/TrapezoidProfile.h>
#include <units/acceleration.h>
#include <units/angle.h>
#include <units/angular_velocity.h>
#include <units/length.h>
#include <units/time.h>
#include <units/velocity.h>
#include <units/voltage.h>
#include <wpi/math>

#pragma once

/**
 * The Constants header provides a convenient place for teams to hold robot-wide
 * numerical or bool constants.  This should not be used for any other purpose.
 *
 * It is generally a good idea to place constants into subsystem- or
 * command-specific namespaces within this header, which can then be used where
 * they are needed.
 */

namespace DriveConstants {
constexpr int kFrontLeftMotorPort = 0;
constexpr int kRearLeftMotorPort = 1;
constexpr int kFrontRightMotorPort = 2;
constexpr int kRearRightMotorPort = 3;

constexpr int kFrontLeftEncoderPorts[]{0, 1};
constexpr int kRearLeftEncoderPorts[]{2, 3};
constexpr int kFrontRightEncoderPorts[]{4, 5};
constexpr int kRearRightEncoderPorts[]{5, 6};

constexpr bool kFrontLeftEncoderReversed = false;
constexpr bool kRearLeftEncoderReversed = true;
constexpr bool kFrontRightEncoderReversed = false;
constexpr bool kRearRightEncoderReversed = true;

constexpr auto kTrackWidth =
    0.5_m;  // Distance between centers of right and left wheels on robot
constexpr auto kWheelBase =
    0.7_m;  // Distance between centers of front and back wheels on robot
extern const frc::MecanumDriveKinematics kDriveKinematics;

constexpr int kEncoderCPR = 1024;
constexpr double kWheelDiameterMeters = .15;
constexpr double kEncoderDistancePerPulse =
    // Assumes the encoders are directly mounted on the wheel shafts
    (kWheelDiameterMeters * wpi::math::pi) / static_cast<double>(kEncoderCPR);

// These are example values only - DO NOT USE THESE FOR YOUR OWN ROBOT!
// These characterization values MUST be determined either experimentally or
// theoretically for *your* robot's drive. The RobotPy Characterization
// Toolsuite provides a convenient tool for obtaining these values for your
// robot.
constexpr auto ks = 1_V;
constexpr auto kv = 0.8 * 1_V * 1_s / 1_m;
constexpr auto ka = 0.15 * 1_V * 1_s * 1_s / 1_m;

// Example value only - as above, this must be tuned for your drive!
constexpr double kPFrontLeftVel = 0.5;
constexpr double kPRearLeftVel = 0.5;
constexpr double kPFrontRightVel = 0.5;
constexpr double kPRearRightVel = 0.5;
}  // namespace DriveConstants

namespace AutoConstants {
using radians_per_second_squared_t =
    units::compound_unit<units::radians,
                         units::inverse<units::squared<units::second>>>;

constexpr auto kMaxSpeed = units::meters_per_second_t(3);
constexpr auto kMaxAcceleration = units::meters_per_second_squared_t(3);
constexpr auto kMaxAngularSpeed = units::radians_per_second_t(3);
constexpr auto kMaxAngularAcceleration =
    units::unit_t<radians_per_second_squared_t>(3);

constexpr double kPXController = 0.5;
constexpr double kPYController = 0.5;
constexpr double kPThetaController = 0.5;

extern const frc::TrapezoidProfile<units::radians>::Constraints
    kThetaControllerConstraints;

}  // namespace AutoConstants

namespace OIConstants {
constexpr int kDriverControllerPort = 1;
}  // namespace OIConstants
