package frc4388.robot.subsystems.intake;

import static edu.wpi.first.units.Units.Amps;
import static edu.wpi.first.units.Units.RotationsPerSecond;

import com.ctre.phoenix6.configs.CurrentLimitsConfigs;
import com.ctre.phoenix6.configs.MotorOutputConfigs;
import com.ctre.phoenix6.configs.Slot0Configs;
import com.ctre.phoenix6.configs.TalonFXConfiguration;
import com.ctre.phoenix6.signals.NeutralModeValue;

import edu.wpi.first.units.measure.AngularVelocity;
import edu.wpi.first.units.measure.Current;
import frc4388.utility.configurable.ConfigurableDouble;
import frc4388.utility.status.CanDevice;

public class IntakeConstants {
    // Motor conversions

    public static final double ARM_MOTOR_GEAR_RATIO = 125;
    public static final double ROLLER_MOTOR_GEAR_RATIO = 3;


    public static final double BOUNCE_HALF_PERIOD = 5.;
    public static final double INTAKE_BOUNCE_OUTPUT = 0.2;
    public static final double INTAKE_BOUNCE_MAX_OUTPUT = 0.5;
    public static final ConfigurableDouble INTAKE_BOUNCE_CURRENT_LIMIT = new ConfigurableDouble("Intake Bounce Current Limit", 20);
    public static final ConfigurableDouble INTAKE_BOUNCE_VELOCITY_LIMIT = new ConfigurableDouble("Intake Bounce Velocity Limit", 20);



    //IDs

    public static final CanDevice ARM_ID   = new CanDevice("ARM", 20);
    public static final CanDevice ROLLER_ID   = new CanDevice("INTAKE_ROLLER", 21);
    public static final int ARM_LIMIT_SWITCH_CHANNEL = 9;
        
    // Limits

    // 0 is the forward angle on the robot.
    // negative is left, positive is right

    //when testing the negative output of 10% made the robot put the intake up

    // public static final Angle ARM_LIMIT_LOWER = Degrees.of(90);
    // public static final Angle ARM_LIMIT_UPPER = Degrees.of(-90);

    public static final ConfigurableDouble ARM_LIMIT_RETRACTED = new ConfigurableDouble("Arm angle retracted", 0.1);
    public static final ConfigurableDouble ARM_LIMIT_EXTENDED = new ConfigurableDouble("Arm angle extended", 0.33);
    public static final ConfigurableDouble ARM_EXTEND_PERCENT_OUTPUT = new ConfigurableDouble("Arm extend % output", 0.4);
    public static final ConfigurableDouble ARM_RETRACT_PERCENT_OUTPUT = new ConfigurableDouble("Arm retract % output", -0.4);
    public static final ConfigurableDouble ROLLER_PERCENT_OUTPUT = new ConfigurableDouble("Roller Percent Output", .70);
    // public static final ConfigurableDouble ROLL = new ConfigurableDouble("Arm angle extended", 0.25);

    // public static final AngularVelocity ROLLER_MAX_VELOCITY = RotationsPerSecond.of(4.0);
    // public static final AngularVelocity ROLLER_STOP = RotationsPerSecond.of(0.0);


    public static final Slot0Configs ARM_PID = new Slot0Configs()
        .withKP(0.08)
        .withKI(0.0)
        .withKD(0.05);

    

    public static ConfigurableDouble arm_kP = new ConfigurableDouble("ARM KP", 0.08);
    public static ConfigurableDouble arm_kI = new ConfigurableDouble("ARM KI", 0);
    public static ConfigurableDouble arm_kD = new ConfigurableDouble("ARM KD", 0.05);
    



    // 0 is paralell to the ground, 90 is directly up
    // public static final Angle PITCH_LIMIT_UPPER = Degrees.of(90);
    // public static final Angle PITCH_LIMIT_LOWER = Degrees.of(0);
    
    // Motor configs
    public static final TalonFXConfiguration ARM_MOTOR_CONFIG = new TalonFXConfiguration()
        .withCurrentLimits(
            new CurrentLimitsConfigs()
                .withStatorCurrentLimit(15) // TODO: tune???
                .withStatorCurrentLimitEnable(true)
            ).withMotorOutput(
                new MotorOutputConfigs()
                    .withNeutralMode(NeutralModeValue.Brake) // Must be break because this has to be accurate
                    .withDutyCycleNeutralDeadband(0.04) // TODO: Figure out what this means
    );

    public static final TalonFXConfiguration ROLLER_MOTOR_CONFIG = new TalonFXConfiguration()
        .withCurrentLimits(
            new CurrentLimitsConfigs()
                .withStatorCurrentLimit(40) // TODO: tune???
                .withStatorCurrentLimitEnable(true)
            ).withMotorOutput(
                new MotorOutputConfigs()
                    .withNeutralMode(NeutralModeValue.Coast) // Must be coast because this is spinny spinny
                    .withDutyCycleNeutralDeadband(0.04) // TODO: Figure out what this means
    );
}