#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;

competition Competition;

//define global variables
int axis3Drive = 0;
int axis1Drive = 0;
float coef = 1.28;

// 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);
rotation Rotation1 = rotation(PORT19, false);
distance Distance1 = distance(PORT17);
motor leftMotorA = motor(PORT3, ratio6_1, false);
motor leftMotorB = motor(PORT7, ratio6_1, false);
motor_group LeftDriveSmart = motor_group(leftMotorA, leftMotorB);
motor rightMotorA = motor(PORT4, ratio6_1, true);
motor rightMotorB = motor(PORT8, ratio6_1, true);
motor_group RightDriveSmart = motor_group(rightMotorA, rightMotorB);
drivetrain Drivetrain = drivetrain(LeftDriveSmart, RightDriveSmart, 219.44, 295, 40, mm, 1);

motor cataMotorA = motor(PORT14, ratio36_1, true);
motor cataMotorB = motor(PORT10, ratio36_1, false);
motor_group cata = motor_group(cataMotorA, cataMotorB);

motor intake = motor(PORT12, ratio36_1, true);

digital_out DigitalOutB = digital_out(Brain.ThreeWirePort.B);
digital_out DigitalOutH = digital_out(Brain.ThreeWirePort.H);

digital_in DigitalInD = digital_in(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;

int axis3calc() {
	while(true){
    //get controller info and prep for processing

    //initalize variables first
    double y = 0;

    int x = fabs(Controller1.Axis3.position() * coef);

    switch(x){
        case 0 ... 60:
            y = pow(1.04029, x * 1.284467);
            break;
        case 61 ... 80:
            y = 0.75 * x -25;
            break;
        case 81 ... 108:
            y = 1.0357 * x - 47.85714857;
            break;
        case 109 ... 127:
            y = 63 + pow(1.232099, x - 108);
            break;
        default:
            y = 128;
            break;
    }
    y = y / coef;

    if(Controller1.Axis3.position() < 0){
        y = -y;
    }

    axis3Drive = -y;
	wait(2.5, msec);
	}
    return 0;
}
int axis1calc(){
    while(true){
	//get controller info and prep for processing

    //initalize variables first
    double y = 0;

    int x = fabs(Controller1.Axis1.position() * coef);

    switch(x){
        case 0 ... 60:
            y = pow(1.04029, x * 1.284467);
            break;
        case 61 ... 80:
            y = 0.75 * x -25;
            break;
        case 81 ... 108:
            y = 1.0357 * x - 47.85714857;
            break;
        case 109 ... 127:
            y = 63 + pow(1.232099, x - 108);
            break;
        default:
            y = 128;
            break;
    }
    y = y / coef;

    if(Controller1.Axis1.position() < 0){
        y = -y;
    }
    axis1Drive = y;
	wait(2.5, msec);
	}
    return 0;
}

// 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) {

	vex::task ws4(axis1calc);

	vex::task ws3(axis3calc);

    if(RemoteControlCodeEnabled) {
      int drivetrainLeftSideSpeed = axis3Drive - axis1Drive;
      int drivetrainRightSideSpeed = axis3Drive + axis1Drive;

      // 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(5, msec);
  }
  return 0;
}

task rc_auto_loop_task_Controller1(rc_auto_loop_function_Controller1);

#pragma endregion VEXcode Generated Robot Configuration
bool intakeInterlock = false;
bool cataInterlock = false;
int switchpoint = 0;

void setDown(){
	while(true){
    if(Rotation1.position(degrees) < 40){
      cata.setVelocity(100, percent);
      printf("%lf\n", Rotation1.position(degrees));
      cata.spin(forward);
    } else {
    cata.setVelocity(30, percent);
    cata.spin(forward);
    while(Rotation1.position(degrees) > 43 && Rotation1.position(degrees) < 43){
    	printf("eidi\n");
      cata.stop();
    }
    if(Rotation1.position(degrees) > 72){
    	printf("Error: 'setDown' function; %lf\n", Rotation1.position(degrees));
    }
  }
  }
}

int Interlock(){
 	while(true){
    	if(DigitalInD.value() == 0){
    		intakeInterlock = true;
    	} else {
        	intakeInterlock = false;
        }
        if(DigitalOutB.value() == 1){
        	cataInterlock = false;
        } else {
        	cataInterlock = true;
        }
    wait(5, msec);
    }
    return 0;
}

int Intake(){
	bool intakeToggle = false;
      while(true){
        intake.setMaxTorque(100, percent);
        intake.spin(forward);
        if(Controller1.ButtonR1.pressing()){
        	intakeToggle = !intakeToggle;
            wait(250, msec);
        }
        if(Distance1.objectDistance(inches) < 4.0){
        intake.setStopping(hold);
          intake.stop();
          intake.setVelocity(0, percent);
        } else {
        	intake.setVelocity(60, percent);
        }
    wait(5, msec);
    }
    return 0;
}

int cataFire(){
  cata.setMaxTorque(100, percent);
  cata.setVelocity(100, percent);
  cata.setStopping(hold);
  while(true){
  	if(Distance1.objectDistance(inches) < 4.0){
  		cata.spin(forward);
      if(Rotation1.position(degrees) > 90)
        setDown();
  	}
    wait(5, msec);
    printf("%lf\n", Rotation1.position(degrees));
  }
  return 0;
}

int wings(){
  while(true){
    if(Controller1.ButtonL1.pressing()){
      DigitalOutH.set(true);
    }else{
      DigitalOutH.set(false);
    }
    wait(5, msec);
    }
  return 0;
}

void whenStarted(){
    DigitalOutB.set(true);
    cata.setMaxTorque(100, percent);
    cata.setVelocity(100, percent);
    cata.setStopping(hold);
    printf("%lf\n", Rotation1.position(degrees));
    Rotation1.setPosition(0, degrees);
    wait(50, msec);
    cata.stop();
    printf("%lf\n", Rotation1.position(degrees));
    setDown();
}

int main() {
  // post event registration

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

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

  //run the important things
  whenStarted();
  vex::task ws5(Interlock);
  vex::task ws6(wings);
  vex::task ws1(Intake);
  vex::task ws2(cataFire);
}