// 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.can.WPI_TalonFX;
import com.ctre.phoenix.sensors.CANCoder;

import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.math.kinematics.ChassisSpeeds;
import edu.wpi.first.math.kinematics.SwerveDriveKinematics;
import edu.wpi.first.math.kinematics.SwerveModuleState;
import edu.wpi.first.math.util.Units;
import edu.wpi.first.wpilibj.interfaces.Gyro;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc4388.robot.Constants.SwerveDriveConstants;
import frc4388.utility.Gains;
//import frc4388.utility.RobotGyro;

public class SwerveDrive extends SubsystemBase {
  SwerveDriveKinematics m_kinematics;
  private WPI_TalonFX m_leftFrontSteerMotor;
  private WPI_TalonFX m_leftFrontWheelMotor;
  private WPI_TalonFX m_rightFrontSteerMotor;
  private WPI_TalonFX m_rightFrontWheelMotor;
  private WPI_TalonFX m_leftBackSteerMotor;
  private WPI_TalonFX m_leftBackWheelMotor;
  private WPI_TalonFX m_rightBackSteerMotor;
  private WPI_TalonFX m_rightBackWheelMotor;
  private CANCoder m_leftFrontEncoder; 
  private CANCoder m_rightFrontEncoder;
  private CANCoder m_leftBackEncoder;
  private CANCoder m_rightBackEncoder;    
  double halfWidth = SwerveDriveConstants.WIDTH / 2.d;
  double halfHeight = SwerveDriveConstants.HEIGHT / 2.d;
  public static Gains m_swerveGains = SwerveDriveConstants.SWERVE_GAINS;


  Translation2d m_frontLeftLocation = 
      new Translation2d(
          Units.inchesToMeters(halfHeight), 
          Units.inchesToMeters(halfWidth));
  Translation2d m_frontRightLocation =
       new Translation2d(
          Units.inchesToMeters(halfHeight), 
          Units.inchesToMeters(-halfWidth));
  Translation2d m_backLeftLocation = 
      new Translation2d(
          Units.inchesToMeters(-halfHeight), 
          Units.inchesToMeters(halfWidth));
  Translation2d m_backRightLocation = 
      new Translation2d(
          Units.inchesToMeters(-halfHeight), 
          Units.inchesToMeters(-halfWidth));
      //setSwerveGains();
      
  private SwerveDriveKinematics kinematics = new SwerveDriveKinematics(m_frontLeftLocation, m_frontRightLocation, m_backLeftLocation, m_backRightLocation);
  public SwerveModule[] modules;
//  public RobotGyro gyro; //TODO Add Gyro Lol


//   public SwerveDrive(WPI_TalonFX leftFrontSteerMotor,WPI_TalonFX leftFrontWheelMotor,WPI_TalonFX rightFrontSteerMotor,WPI_TalonFX rightFrontWheelMotor,
//   WPI_TalonFX leftBackSteerMotor,WPI_TalonFX leftBackWheelMotor,WPI_TalonFX rightBackSteerMotor,WPI_TalonFX rightBackWheelMotor, CANCoder leftFrontEncoder,
//   CANCoder rightFrontEncoder,
//   CANCoder leftBackEncoder,
//   CANCoder rightBackEncoder)
//   {
//       m_leftFrontSteerMotor = leftFrontSteerMotor;
//       m_leftFrontWheelMotor = leftFrontWheelMotor;
//       m_rightFrontSteerMotor = rightFrontSteerMotor;
//       m_rightFrontWheelMotor = rightFrontWheelMotor;
//       m_leftBackSteerMotor = leftBackSteerMotor;
//       m_leftBackWheelMotor = leftBackWheelMotor;
//       m_rightBackSteerMotor = rightBackSteerMotor;
//       m_rightBackWheelMotor = rightBackWheelMotor;
//       m_leftFrontEncoder = leftFrontEncoder; 
//       m_rightFrontEncoder = rightFrontEncoder;
//       m_leftBackEncoder = leftBackEncoder;
//       m_rightBackEncoder = rightBackEncoder; 

//       modules = new SwerveModule[] {
//           new SwerveModule(m_leftFrontWheelMotor, m_leftFrontSteerMotor, m_leftFrontEncoder, SwerveDriveConstants.LEFT_FRONT_ENCODER_OFFSET), // Front Left
//           new SwerveModule(m_rightFrontWheelMotor, m_rightFrontSteerMotor, m_rightFrontEncoder, SwerveDriveConstants.RIGHT_FRONT_ENCODER_OFFSET), // Front Right
//           new SwerveModule(m_leftBackWheelMotor, m_leftBackSteerMotor, m_leftBackEncoder, SwerveDriveConstants.LEFT_BACK_ENCODER_OFFSET), // Back Left
//           new SwerveModule(m_rightBackWheelMotor, m_rightBackSteerMotor, m_rightBackEncoder, SwerveDriveConstants.RIGHT_BACK_ENCODER_OFFSET)  // Back Right
//       };
//       //gyro.reset(); 
//   }
//https://github.com/ZachOrr/MK3-Swerve-Example
 /**
 * Method to drive the robot using joystick info.
 *
 * @param xSpeed Speed of the robot in the x direction (forward).
 * @param ySpeed Speed of the robot in the y direction (sideways).
 * @param rot Angular rate of the robot.
 * @param fieldRelative Whether the provided x and y speeds are relative to the field.
 */
  public void driveWithInput(double xSpeed, double ySpeed, double rot, boolean fieldRelative)
  {
      /*var speeds = new ChassisSpeeds(strafeX, strafeY, rotate * SwerveDriveConstants.ROTATION_SPEED //in rad/s );
      driveFromSpeeds(speeds);*/
      double xSpeedMetersPerSecond = xSpeed * SwerveDriveConstants.JOYSTICK_TO_METERS_PER_SECOND;
      double ySpeedMetersPerSecond = ySpeed * SwerveDriveConstants.JOYSTICK_TO_METERS_PER_SECOND;
      SwerveModuleState[] states =
          kinematics.toSwerveModuleStates(
              fieldRelative
                ? ChassisSpeeds.fromFieldRelativeSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond, rot*3, new Rotation2d())//, gyro.getRotation2d())
                : new ChassisSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond, rot*3));
       SwerveDriveKinematics.desaturateWheelSpeeds(states, Units.feetToMeters(SwerveDriveConstants.MAX_SPEED_FEET_PER_SEC));
       for (int i = 0; i < states.length; i++) {
          SwerveModule module = modules[i];
          SwerveModuleState state = states[i];
          module.setDesiredState(state);
  }
  }
  //Converts a ChassisSpeed to SwerveModuleStates (targets)
  public void driveFromSpeeds(ChassisSpeeds speeds)
  {
      //https://docs.wpilib.org/en/stable/docs/software/kinematics-and-odometry/swerve-drive-kinematics.html 
      // Convert to module states
      SwerveModuleState[] moduleStates = m_kinematics.toSwerveModuleStates(speeds);

      // Front left module state
      SwerveModuleState leftFront = SwerveModuleState.optimize(moduleStates[0], Rotation2d.fromDegrees(m_leftFrontEncoder.getPosition()));
      // Front right module state
      SwerveModuleState rightFront = SwerveModuleState.optimize(moduleStates[1], Rotation2d.fromDegrees(m_rightFrontEncoder.getPosition()));
      // Back left module state
      SwerveModuleState leftBack = SwerveModuleState.optimize(moduleStates[2], Rotation2d.fromDegrees(m_leftBackEncoder.getPosition()));
      // Back right module state
      SwerveModuleState rightBack = SwerveModuleState.optimize(moduleStates[3], Rotation2d.fromDegrees(m_rightBackEncoder.getPosition()));
      
      //Set the motors
      setSwerveMotors(leftFront, leftBack, rightFront, rightBack);
  }

  //Sets steering motors to PID values
  public void setSwerveMotors(SwerveModuleState leftFront, SwerveModuleState leftBack, SwerveModuleState rightFront, SwerveModuleState rightBack)
  {
      /*//Set the Wheel motor speeds
      m_leftFrontWheelMotor.set(m_leftFrontSteerMotor.get() + leftFront.speedMetersPerSecond * SwerveDriveConstants.WHEEL_SPEED);
      m_rightFrontWheelMotor.set(m_rightFrontSteerMotor.get() + rightFront.speedMetersPerSecond * SwerveDriveConstants.WHEEL_SPEED);
      m_leftBackWheelMotor.set(m_leftBackSteerMotor.get() + leftBack.speedMetersPerSecond * SwerveDriveConstants.WHEEL_SPEED);
      m_rightBackWheelMotor.set(m_rightBackSteerMotor.get() + rightBack.speedMetersPerSecond * SwerveDriveConstants.WHEEL_SPEED);
      //PID
      m_leftFrontSteerMotor.set(TalonFXControlMode.Position, leftFront.angle.getDegrees() * 12000);
      m_rightFrontSteerMotor.set(TalonFXControlMode.Position, rightFront.angle.getDegrees() * 12000);
      m_leftBackSteerMotor.set(TalonFXControlMode.Position, leftBack.angle.getDegrees() * 12000);
      m_rightBackSteerMotor.set(TalonFXControlMode.Position, rightBack.angle.getDegrees());
      System.out.println("Target: " + leftFront.angle.getDegrees());*/
  }    
  
  /*public void setSwerveGains(){
      m_leftFrontSteerMotor.selectProfileSlot(SwerveDriveConstants.SWERVE_SLOT_IDX, SwerveDriveConstants.SWERVE_PID_LOOP_IDX);
      m_leftFrontSteerMotor.config_kF(SwerveDriveConstants.SWERVE_SLOT_IDX, m_swerveGains.m_kF, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
      m_leftFrontSteerMotor.config_kP(SwerveDriveConstants.SWERVE_SLOT_IDX, m_swerveGains.m_kP, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
      m_leftFrontSteerMotor.config_kI(SwerveDriveConstants.SWERVE_SLOT_IDX, m_swerveGains.m_kI, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
      m_leftFrontSteerMotor.config_kD(SwerveDriveConstants.SWERVE_SLOT_IDX, m_swerveGains.m_kD, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
      m_rightFrontSteerMotor.selectProfileSlot(SwerveDriveConstants.SWERVE_SLOT_IDX, SwerveDriveConstants.SWERVE_PID_LOOP_IDX);
      m_rightFrontSteerMotor.config_kF(SwerveDriveConstants.SWERVE_SLOT_IDX, m_swerveGains.m_kF, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
      m_rightFrontSteerMotor.config_kP(SwerveDriveConstants.SWERVE_SLOT_IDX, m_swerveGains.m_kP, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
      m_rightFrontSteerMotor.config_kI(SwerveDriveConstants.SWERVE_SLOT_IDX, m_swerveGains.m_kI, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
      m_rightFrontSteerMotor.config_kD(SwerveDriveConstants.SWERVE_SLOT_IDX, m_swerveGains.m_kD, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
      m_leftBackSteerMotor.selectProfileSlot(SwerveDriveConstants.SWERVE_SLOT_IDX, SwerveDriveConstants.SWERVE_PID_LOOP_IDX);
      m_leftBackSteerMotor.config_kF(SwerveDriveConstants.SWERVE_SLOT_IDX, m_swerveGains.m_kF, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
      m_leftBackSteerMotor.config_kP(SwerveDriveConstants.SWERVE_SLOT_IDX, m_swerveGains.m_kP, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
      m_leftBackSteerMotor.config_kI(SwerveDriveConstants.SWERVE_SLOT_IDX, m_swerveGains.m_kI, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
      m_leftBackSteerMotor.config_kD(SwerveDriveConstants.SWERVE_SLOT_IDX, m_swerveGains.m_kD, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
      m_rightBackSteerMotor.selectProfileSlot(SwerveDriveConstants.SWERVE_SLOT_IDX, SwerveDriveConstants.SWERVE_PID_LOOP_IDX);
      m_rightBackSteerMotor.config_kF(SwerveDriveConstants.SWERVE_SLOT_IDX, m_swerveGains.m_kF, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
      m_rightBackSteerMotor.config_kP(SwerveDriveConstants.SWERVE_SLOT_IDX, m_swerveGains.m_kP, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
      m_rightBackSteerMotor.config_kI(SwerveDriveConstants.SWERVE_SLOT_IDX, m_swerveGains.m_kI, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
      m_rightBackSteerMotor.config_kD(SwerveDriveConstants.SWERVE_SLOT_IDX, m_swerveGains.m_kD, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
      
  }*/



  // public void driveFieldRelative(double awayFromStation, double towardLeftBoundary, double rotate)
  // {
  //     var speeds = ChassisSpeeds.fromFieldRelativeSpeeds(awayFromStation, towardLeftBoundary, 
  //         rotate * SwerveDriveConstants.RotationSpeed, /*get odometry angle*/)
  // }
}