// 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 frc4388.robot.subsystems;

import com.ctre.phoenix.motorcontrol.FeedbackDevice;
import com.ctre.phoenix.motorcontrol.RemoteSensorSource;
import com.ctre.phoenix.motorcontrol.TalonFXControlMode;
import com.ctre.phoenix.motorcontrol.TalonFXFeedbackDevice;
import com.ctre.phoenix.motorcontrol.can.TalonFXConfiguration;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
import com.ctre.phoenix.sensors.CANCoder;
import com.ctre.phoenix.sensors.CANCoderConfiguration;

import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.kinematics.SwerveModuleState;
import edu.wpi.first.math.util.Units;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc4388.robot.Constants.SwerveDriveConstants;
import frc4388.utility.Gains;

public class SwerveModule extends SubsystemBase {
  public WPI_TalonFX angleMotor;
  public WPI_TalonFX driveMotor;
  private CANCoder canCoder;
  public static Gains m_swerveGains = SwerveDriveConstants.SWERVE_GAINS;

  private static double kEncoderTicksPerRotation = 4096;
  private SwerveModuleState state;
  private double canCoderFeedbackCoefficient;
  
  public long m_currentTime;
  public long m_lastTime;
  public double m_deltaTime;

  public double m_currentPos;
  public double m_lastPos;

  /** Creates a new SwerveModule. */
  public SwerveModule(WPI_TalonFX driveMotor, WPI_TalonFX angleMotor, CANCoder canCoder, double offset) {
    this.driveMotor = driveMotor;
    this.angleMotor = angleMotor;
    this.canCoder = canCoder;
    canCoderFeedbackCoefficient = canCoder.configGetFeedbackCoefficient();

    TalonFXConfiguration angleTalonFXConfiguration = new TalonFXConfiguration();

    angleTalonFXConfiguration.slot0.kP = m_swerveGains.m_kP;
    angleTalonFXConfiguration.slot0.kI = m_swerveGains.m_kI;
    angleTalonFXConfiguration.slot0.kD = m_swerveGains.m_kD;

    // Use the CANCoder as the remote sensor for the primary TalonFX PID
    angleTalonFXConfiguration.remoteFilter0.remoteSensorDeviceID = canCoder.getDeviceID();
    angleTalonFXConfiguration.remoteFilter0.remoteSensorSource = RemoteSensorSource.CANCoder;
    angleTalonFXConfiguration.primaryPID.selectedFeedbackSensor = FeedbackDevice.RemoteSensor0;
    angleMotor.configAllSettings(angleTalonFXConfiguration);

    // TalonFXConfiguration driveTalonFXConfiguration = new TalonFXConfiguration();
    // driveTalonFXConfiguration.slot0.kP = 0.05;
    // driveTalonFXConfiguration.slot0.kI = 0.0;
    // driveTalonFXConfiguration.slot0.kD = 0.0;
    // driveTalonFXConfiguration.primaryPID.selectedFeedbackSensor = FeedbackDevice.IntegratedSensor;
    driveMotor.configFactoryDefault();
    driveMotor.configSelectedFeedbackSensor(TalonFXFeedbackDevice.IntegratedSensor, 0, 30);
    driveMotor.configNominalOutputForward(0, 30);
    driveMotor.configNominalOutputReverse(0, 30);
    driveMotor.configPeakOutputForward(1, 30);
    driveMotor.configPeakOutputReverse(-1, 30);
    driveMotor.configAllowableClosedloopError(0, 0, 30);
    driveMotor.config_kP(0, 0.5, 30);
    driveMotor.config_kI(0, 0, 30);
    driveMotor.config_kD(0, 0, 30);
    // maybe try a feedforward value?
    
    // driveMotor.configAllSettings(driveTalonFXConfiguration);

    CANCoderConfiguration canCoderConfiguration = new CANCoderConfiguration();
    canCoderConfiguration.magnetOffsetDegrees = offset;
    canCoder.configAllSettings(canCoderConfiguration);

    m_currentTime = System.currentTimeMillis();
    m_lastTime = System.currentTimeMillis();

    m_lastPos = driveMotor.getSelectedSensorPosition();
  }

  private Rotation2d getAngle() {
    // Note: This assumes the CANCoders are setup with the default feedback coefficient
    // and the sensor value reports degrees.
    return Rotation2d.fromDegrees(canCoder.getAbsolutePosition());
  }

  /**
   * Set the speed + rotation of the swerve module from a SwerveModuleState object
   * @param desiredState - A SwerveModuleState representing the desired new state of the module
   */
  public void setDesiredState(SwerveModuleState desiredState, boolean ignoreAngle) {
    Rotation2d currentRotation = getAngle();
    // SmartDashboard.putNumber("Motor " + angleMotor.getDeviceID(), currentRotation.getDegrees());
    state = SwerveModuleState.optimize(desiredState, currentRotation);

    // Find the difference between our current rotational position + our new rotational position
    Rotation2d rotationDelta = state.angle.minus(currentRotation);

    // Find the new absolute position of the module based on the difference in rotation
    double deltaTicks = (rotationDelta.getDegrees() / 360.) * kEncoderTicksPerRotation;
    // Convert the CANCoder from it's position reading back to ticks
    double currentTicks = canCoder.getPosition() / canCoderFeedbackCoefficient;
    double desiredTicks = currentTicks + deltaTicks;

    if (!ignoreAngle){
      angleMotor.set(TalonFXControlMode.Position, desiredTicks);
    }

    double ftPerSec = Units.metersToFeet(state.speedMetersPerSecond);
    double normFtPerSec = ftPerSec / SwerveDriveConstants.MAX_SPEED_FEET_PER_SEC;
    // double angleCorrection = angleMotor.getSelectedSensorVelocity() * 2.69;
    
    // driveMotor.set(TalonFXControlMode.Velocity, angleCorrection + (Units.metersToInches(state.speedMetersPerSecond) * SwerveDriveConstants.TICKS_PER_INCH) / 10);
    driveMotor.set(normFtPerSec);// - angleMotor.get());
    // driveMotor.set(TalonFXControlMode.Velocity, angleCorrection); // Ratio between axis = 1/1.75    Ratio of wheel is 5.14/1    ratio of steer is 12.8/1

    // m_currentTime = System.currentTimeMillis();
    // m_deltaTime = (double) (m_currentTime - m_lastTime);
    // m_deltaTime = m_deltaTime / 10.0;

    // m_currentPos = driveMotor.getSelectedSensorPosition();

    // double m_desiredCorrectionVel = 3.2 * angleMotor.getSelectedSensorVelocity();
    // double m_desiredCorrectionPos = (m_deltaTime * m_desiredCorrectionVel) % 2048;
    // double m_lastPos = (driveMotor.getSelectedSensorPosition() % 2048) - (m_deltaTime * driveMotor.getSelectedSensorVelocity());
    // double m_actualDesiredPos = m_deltaTime * ((Units.metersToInches(state.speedMetersPerSecond) * SwerveDriveConstants.TICKS_PER_INCH) / 10);
    
    // System.out.println("Current Pos: " + driveMotor.getSelectedSensorPosition());
    // System.out.println("Desired Correction Pos: " + m_desiredCorrectionPos);
    // System.out.println("Last Pos: " + m_lastPos);

    // driveMotor.set(TalonFXControlMode.Position, 1500/*m_desiredCorrectionPos*/);

    // m_lastTime = m_currentTime;
    // m_lastPos = m_currentPos;
  }

  /**
   * Get current module state.
   *
   * @return The current state of the module in m/s.
   */
  public SwerveModuleState getState() {
    // return state;
    return new SwerveModuleState(driveMotor.getSelectedSensorVelocity() * SwerveDriveConstants.INCHES_PER_TICK * SwerveDriveConstants.METERS_PER_INCH * 10, getAngle());
  }

  /**
   * Stop the drive and steer motors of current module.
   */
  public void stop() {
    driveMotor.set(0);
    angleMotor.set(0);
  }
  @Override
  public void periodic(){
    Rotation2d currentRotation = getAngle();
    SmartDashboard.putNumber("Angle Motor " + angleMotor.getDeviceID(), currentRotation.getDegrees());
    SmartDashboard.putNumber("Drive Motor " + driveMotor.getDeviceID(), ((driveMotor.getSelectedSensorPosition() / 2048) * 360) % 360);
  }

}
