#pragma region VEXcode Generated Robot Configuration
// Make sure all required headers are included.
#include <stdio.h>
#include <stdlib.h>
#include <stdbool.h>
#include <math.h>
#include <string.h>


#include "vex.h"

using namespace vex;

// Brain should be defined by default
brain Brain;


// START V5 MACROS
#define waitUntil(condition)                                                   \
  do {                                                                         \
    wait(5, msec);                                                             \
  } while (!(condition))

#define repeat(iterations)                                                     \
  for (int iterator = 0; iterator < iterations; iterator++)
// END V5 MACROS


// Robot configuration code.
controller Controller1 = controller(primary);
motor leftMotorA = motor(PORT14, ratio6_1, false);
motor leftMotorB = motor(PORT11, ratio6_1, false);
motor_group LeftDriveSmart = motor_group(leftMotorA, leftMotorB);
motor rightMotorA = motor(PORT17, ratio6_1, true);
motor rightMotorB = motor(PORT19, ratio6_1, true);
motor_group RightDriveSmart = motor_group(rightMotorA, rightMotorB);
drivetrain Drivetrain = drivetrain(LeftDriveSmart, RightDriveSmart, 219.44, 295, 40, mm, 1);

motor cataMotorA = motor(PORT8, ratio36_1, false);
motor cataMotorB = motor(PORT3, ratio36_1, true);
motor_group cata = motor_group(cataMotorA, cataMotorB);

motor MotorGroup7MotorA = motor(PORT4, ratio36_1, true);
motor MotorGroup7MotorB = motor(PORT9, ratio36_1, false);
motor_group MotorGroup7 = motor_group(MotorGroup7MotorA, MotorGroup7MotorB);

digital_out DigitalOutB = digital_out(Brain.ThreeWirePort.B);
digital_out DigitalOutD = digital_out(Brain.ThreeWirePort.D);



// define variable for remote controller enable/disable
bool RemoteControlCodeEnabled = true;
// define variables used for controlling motors based on controller inputs
bool DrivetrainLNeedsToBeStopped_Controller1 = true;
bool DrivetrainRNeedsToBeStopped_Controller1 = true;

// define a task that will handle monitoring inputs from Controller1
int rc_auto_loop_function_Controller1() {
  // process the controller input every 20 milliseconds
  // update the motors based on the input values
  while(true) {
    if(RemoteControlCodeEnabled) {

      // calculate the drivetrain motor velocities from the controller joystick axies
      // left = Axis3 + Axis1
      // right = Axis3 - Axis1
      int drivetrainLeftSideSpeed = Controller1.Axis3.position() + Controller1.Axis1.position();
      int drivetrainRightSideSpeed = Controller1.Axis3.position() - Controller1.Axis1.position();

      // check if the value is inside of the deadband range
      if (drivetrainLeftSideSpeed < 5 && drivetrainLeftSideSpeed > -5) {
        // check if the left motor has already been stopped
        if (DrivetrainLNeedsToBeStopped_Controller1) {
          // stop the left drive motor
          LeftDriveSmart.stop();
          // tell the code that the left motor has been stopped
          DrivetrainLNeedsToBeStopped_Controller1 = false;
        }
      } else {
        // reset the toggle so that the deadband code knows to stop the left motor nexttime the input is in the deadband range
        DrivetrainLNeedsToBeStopped_Controller1 = true;
      }
      // check if the value is inside of the deadband range
      if (drivetrainRightSideSpeed < 5 && drivetrainRightSideSpeed > -5) {
        // check if the right motor has already been stopped
        if (DrivetrainRNeedsToBeStopped_Controller1) {
          // stop the right drive motor
          RightDriveSmart.stop();
          // tell the code that the right motor has been stopped
          DrivetrainRNeedsToBeStopped_Controller1 = false;
        }
      } else {
        // reset the toggle so that the deadband code knows to stop the right motor next time the input is in the deadband range
        DrivetrainRNeedsToBeStopped_Controller1 = true;
      }

      // only tell the left drive motor to spin if the values are not in the deadband range
      if (DrivetrainLNeedsToBeStopped_Controller1) {
        LeftDriveSmart.setVelocity(drivetrainLeftSideSpeed, percent);
        LeftDriveSmart.spin(forward);
      }
      // only tell the right drive motor to spin if the values are not in the deadband range
      if (DrivetrainRNeedsToBeStopped_Controller1) {
        RightDriveSmart.setVelocity(drivetrainRightSideSpeed, percent);
        RightDriveSmart.spin(forward);
      }
    }
    // wait before repeating the process
    wait(20, msec);
  }
  return 0;
}

task rc_auto_loop_task_Controller1(rc_auto_loop_function_Controller1);
#pragma endregion VEXcode Generated Robot Configuration

// Include the V5 Library
#include "vex.h"

// Allows for easier use of the VEX Library
using namespace vex;

float myVariable, no;

// "when started" hat block
int whenStarted1() {
  Drivetrain.setDriveVelocity(600.0, rpm);
  Drivetrain.setTurnVelocity(100.0, percent);
  MotorGroup7.setMaxTorque(100, percent);
  MotorGroup7.setVelocity(100, percent);
  cata.setMaxTorque(100, percent);
  cata.setVelocity(100, percent);
  bool wingState = false;
  while (true) {
    DigitalOutB.set(true);
    cata.setStopping(hold);
    if(Controller1.ButtonDown.pressing()){
      cata.spin(reverse);
    }
    if(Controller1.ButtonUp.pressing()){
      cata.spin(forward);
    }
    if(Controller1.ButtonA.pressing()){
      cata.spinFor(forward, 360, degrees);
      DigitalOutB.set(true);
      wait(250, msec);
    } else{
      DigitalOutB.set(false);
    }
    if(Controller1.ButtonLeft.pressing()){
      wingState = !wingState;
    }
    if (wingState == true){
      DigitalOutD.set(true);
    } else{
      DigitalOutD.set(false);
    }
  wait(5, msec);
  }
  return 0;
}


int main() {
  // post event registration

  // set default print color to black
  printf("\033[30m");

  // wait for rotation sensor to fully initialize
  wait(30, msec);

  whenStarted1();
}