// 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.

#pragma once

#include <numbers>

/**
 * 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 {
inline constexpr int kLeftMotor1Port = 0;
inline constexpr int kLeftMotor2Port = 1;
inline constexpr int kRightMotor1Port = 2;
inline constexpr int kRightMotor2Port = 3;

inline constexpr int kLeftEncoderPorts[]{0, 1};
inline constexpr int kRightEncoderPorts[]{2, 3};
inline constexpr bool kLeftEncoderReversed = false;
inline constexpr bool kRightEncoderReversed = true;

inline constexpr int kEncoderCPR = 1024;
inline constexpr double kWheelDiameterInches = 6;
inline constexpr double kEncoderDistancePerPulse =
    // Assumes the encoders are directly mounted on the wheel shafts
    (kWheelDiameterInches * std::numbers::pi) /
    static_cast<double>(kEncoderCPR);
}  // namespace DriveConstants

namespace HatchConstants {
inline constexpr int kHatchSolenoidModule = 0;
inline constexpr int kHatchSolenoidPorts[]{0, 1};
}  // namespace HatchConstants

namespace AutoConstants {
constexpr double kAutoDriveDistanceInches = 60;
constexpr double kAutoBackupDistanceInches = 20;
constexpr double kAutoDriveSpeed = 0.5;
}  // namespace AutoConstants

namespace OIConstants {
constexpr int kDriverControllerPort = 0;
}  // namespace OIConstants