/*----------------------------------------------------------------------------*/
/* Copyright (c) 2018 FIRST. All Rights Reserved.                             */
/* Open Source Software - may be modified and shared by FRC teams. The code   */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project.                                                               */
/*----------------------------------------------------------------------------*/

package frc4388.robot.subsystems;

import com.ctre.phoenix.motorcontrol.InvertType;
import com.ctre.phoenix.motorcontrol.NeutralMode;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;

import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj2.command.SubsystemBase;

import frc4388.robot.Constants.DriveConstants;

/**
 * Add your docs here.
 */
public class Drive extends SubsystemBase {
  // Put methods for controlling this subsystem
  // here. Call these from Commands.

  public WPI_TalonSRX m_leftFrontMotor = new WPI_TalonSRX(DriveConstants.DRIVE_LEFT_FRONT_CAN_ID);
  public WPI_TalonSRX m_rightFrontMotor = new WPI_TalonSRX(DriveConstants.DRIVE_RIGHT_FRONT_CAN_ID);
  public WPI_TalonSRX m_leftBackMotor = new WPI_TalonSRX(DriveConstants.DRIVE_LEFT_BACK_CAN_ID);
  public WPI_TalonSRX m_rightBackMotor = new WPI_TalonSRX(DriveConstants.DRIVE_RIGHT_BACK_CAN_ID);
  public DifferentialDrive m_driveTrain = new DifferentialDrive(m_leftFrontMotor, m_rightFrontMotor);



  /**
   * Add your docs here.
   */
  public Drive(){
    /* factory default values */
    m_leftFrontMotor.configFactoryDefault();
    m_rightFrontMotor.configFactoryDefault();
    m_leftBackMotor.configFactoryDefault();
    m_rightBackMotor.configFactoryDefault();

    /* set back motors as followers */
    m_leftBackMotor.follow(m_leftFrontMotor);
    m_rightBackMotor.follow(m_rightFrontMotor);

    /* set neutral mode */
    m_leftFrontMotor.setNeutralMode(NeutralMode.Brake);
    m_rightFrontMotor.setNeutralMode(NeutralMode.Brake);
    m_leftFrontMotor.setNeutralMode(NeutralMode.Brake);
    m_rightFrontMotor.setNeutralMode(NeutralMode.Brake);

    /* flip input so forward becomes back, etc */
    m_leftFrontMotor.setInverted(false);
    m_rightFrontMotor.setInverted(false);
    m_leftBackMotor.setInverted(InvertType.FollowMaster);
    m_rightBackMotor.setInverted(InvertType.FollowMaster);
  }

  /**
   * Add your docs here.
   */
  public void driveWithInput(double move, double steer){
    m_driveTrain.arcadeDrive(move, steer);
  }
}