2026KPopRobotHunters/src/main/java/frc4388/robot/subsystems/shooter/Shooter.java

package frc4388.robot.subsystems.shooter;

import static edu.wpi.first.units.Units.Rotation;

import java.util.function.Supplier;

import org.littletonrobotics.junction.Logger;

import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.units.measure.Angle;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc4388.utility.status.FaultReporter;

public class Shooter extends SubsystemBase {
    ShooterIO io;
    ShooterStateAutoLogged state = new ShooterStateAutoLogged();

    Supplier<Pose2d> m_swervePoseSupplier;

    public Shooter(
        ShooterIO io,
        Supplier<Pose2d> swervePoseSupplier
    ) {
        this.io = io;
        this.m_swervePoseSupplier = swervePoseSupplier;
    }

    public enum FieldZone {
        // The robot should aim at the hub
        InShootZone,
        // The robot should aim towards the wall
        AimAtWall,
        
    }

    // Calculate what should be done based off of the position of the robot
    // TODO: Implement field zones
    public FieldZone getTarget(Pose2d position) {
        return FieldZone.InShootZone;
    }

    @Override
    public void periodic() {
        
        

        // FaultReporter.register(this); // TODO Implement fault reporter


        Logger.processInputs("Shooter", state);

        Pose2d pose = m_swervePoseSupplier.get();
        Angle robotRot = pose.getRotation().getMeasure();

        io.updateInputs(state);

    }
}