#!/usr/bin/env python3
#
# 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.
#

import wpilib
import wpimath
import drivetrain


class MyRobot(wpilib.TimedRobot):
    def __init__(self) -> None:
        """Robot initialization function"""
        super().__init__()
        self.controller = wpilib.NiDsXboxController(0)
        self.swerve = drivetrain.Drivetrain()

        # Slew rate limiters to make joystick inputs more gentle; 1/3 sec from 0 to 1.
        self.xvelocityLimiter = wpimath.SlewRateLimiter(3)
        self.yvelocityLimiter = wpimath.SlewRateLimiter(3)
        self.rotLimiter = wpimath.SlewRateLimiter(3)

    def autonomousPeriodic(self) -> None:
        self.driveWithJoystick(False)
        self.swerve.updateOdometry()

    def teleopPeriodic(self) -> None:
        self.driveWithJoystick(True)

    def driveWithJoystick(self, fieldRelative: bool) -> None:
        # Get the x velocity. We are inverting this because Xbox controllers return
        # negative values when we push forward.
        xVelocity = (
            -self.xvelocityLimiter.calculate(
                wpimath.applyDeadband(self.controller.getLeftY(), 0.02)
            )
            * drivetrain.kMaxVelocity
        )

        # Get the y velocity or sideways/strafe velocity. We are inverting this because
        # we want a positive value when we pull to the left. Xbox controllers
        # return positive values when you pull to the right by default.
        yVelocity = (
            -self.yvelocityLimiter.calculate(
                wpimath.applyDeadband(self.controller.getLeftX(), 0.02)
            )
            * drivetrain.kMaxVelocity
        )

        # 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.
        rot = (
            -self.rotLimiter.calculate(
                wpimath.applyDeadband(self.controller.getRightX(), 0.02)
            )
            * drivetrain.kMaxAngularVelocity
        )

        self.swerve.drive(xVelocity, yVelocity, rot, fieldRelative, self.getPeriod())