/* Progressive Development Code
 * for ETC 244 VeX Robotics Lab
 * Instructor: Bill Dolan
 * Fall 2023-2024
 *
 * Developed by Skylar Grant
*/

// Configuration created by ROBOTC
#pragma config(Sensor, in3,    armPos,         sensorPotentiometer)
#pragma config(Sensor, in4,    lightRight,     sensorReflection)
#pragma config(Sensor, in5,    lightLeft,      sensorReflection)
#pragma config(Sensor, in6,    lineLeft,       sensorLineFollower)
#pragma config(Sensor, in7,    lineCenter,     sensorLineFollower)
#pragma config(Sensor, in8,    lineRight,      sensorLineFollower)
#pragma config(Sensor, dgtl1,  leftRotary1,    sensorQuadEncoder)
#pragma config(Sensor, dgtl3,  rightRotary1,   sensorQuadEncoder)
#pragma config(Sensor, dgtl5,  frontBumper,    sensorDigitalIn)
#pragma config(Sensor, dgtl6,  rearBumper,     sensorDigitalIn)
#pragma config(Sensor, dgtl7,  startBumper,    sensorDigitalIn)
#pragma config(Sensor, dgtl8,  sonarIn,        sensorSONAR_inch)
#pragma config(Sensor, dgtl10, armLimit,       sensorDigitalIn)
#pragma config(Motor,  port1,           rightMotor,    tmotorVex393_HBridge, openLoop, reversed, driveRight, encoderPort, dgtl3)
#pragma config(Motor,  port3,           clawMotor,     tmotorVex393HighSpeed_MC29, openLoop)
#pragma config(Motor,  port4,           armMotor,      tmotorVex393_MC29, openLoop)
#pragma config(Motor,  port10,          leftMotor,     tmotorVex393_HBridge, openLoop, reversed, driveLeft, encoderPort, dgtl1)
//*!!Code automatically generated by 'ROBOTC' configuration wizard               !!*//

/* Quick function to set the speed of the drive motors
 *
 * Arguments:
 * - leftSpeed: signed integer, -127 to 127
 *   - Speed to drive the left-side motor
 * - rightSpeed: signed integer, -127 to 127
 *   - Speed to drive the right-side motor
*/
void setMotors(int leftSpeed, int rightSpeed) {
	// Turn on the left motor at the given speed
	motor[leftMotor] = leftSpeed;
	// Turn on the right motor at the given speed
	motor[rightMotor] = rightSpeed;
}

/* Quick function to stop both drive motors
 *
 * Arguments: None
*/
void stop() {
	// Turn off the left motor
	motor[leftMotor] = 0;
	// Turn off the right motor
	motor[rightMotor] = 0;
}

/* Function to drive the bot forward for some time
 *
 * Arguments:
 * - speed: signed integer, 0 to 127.
 *   - Speed to drive the motors
 * - timeMs: signed integer
 *   - Amount of time to wait before stopping, in milliseconds
*/
void driveForward(int speed, int timeMs) {
	// Turn on the left and right motors at speed
	setMotors(speed, speed); // setMotors(leftSpeed, rightSpeed)
	// Wait for the set time
	wait1Msec(timeMs);
	// Turn the motors off
	stop();
}

/* Function to drive the bot backwards for some time
 *
 * Arguments:
 * - speed: signed integer, 0 to 127.
 *   - Speed to drive the motors, inversion is handled internally
 * - timeMs: signed integer
 *   - Amount of time to wait before stopping, in milliseconds
*/
void driveBackward(int speed, int timeMs) {
	// Invert the speed
	int revSpeed = speed * -1;
	// Turn on the left and right motors at the reverse speed
	setMotors(revSpeed, revSpeed); // setMotors(leftSpeed, rightSpeed)
	// Wait for the set time
	wait1Msec(timeMs);
	// Turn the motors off
	stop();
}


// TODO: Just combine this into one drive function with L/R/B and a reverse boolean
/* Function to drive only one side's drive motors for a given time
 *
 * Arguments:
 * - side: 1 character string, "L" | "R"
 *   - Which side's motors to drive
 * - speed: signed integer, 0 to 127.
 *   - Speed to drive the motors
 * - timeMs: signed integer
 *   - Amount of time to wait before stopping, in milliseconds
*/
void driveOneSide(char *side, int speed, int timeMs) {
	// Check the direction and apply the motor speeds as required
	if (strcmp(side, "L") == 0) { // Drive Left Side
		setMotors(speed, 0);
	} else if (strcmp(side, "R") == 0) { // Drive Right Side
		setMotors(0, speed); // setMotors(leftSpeed, rightSpeed)
	}
	// Wait for the specified amount of time
	wait1Msec(timeMs);
	// Turn off the motors
	stop();
}

// TODO: Flesh out this function
//void drive(char *side, int speed, int timeMs, int reverse)

/* Turn the robot
 *
 * Arguments:
 * - direction: One character string, "L" | "R"
 *   - Which direction to turn
 * - speed: signed integer 0 to 127
 *   - Speed to drive the motors at. Inversion is handled internally if needed
 * - timeMs: signed integer
 *   - Milliseconds to wait before stopping the turn
 * - reverse: boolean
 *   - Whether or not to reverse the turning-side motors to pivot-in-place
*/
void turn(char *direction, int speed, int timeMs, bool reverse) {
	// Turn left by reversing the left drive motors and going forward
	// with the right drive motors
	// Turn right by going forward with the left drive motors
	// and reversing the right drive motors

	// Default to not reversing the turning-side motors
	int revSpeed = 0;

	// If reverse is true, reverse the turning-side motors
	if (reverse == true) {
		// Get the inverse of the speed for pivot-in-place
		revSpeed = speed * -1;
	}

	// Check the direction and apply the motor speeds as required
	if (strcmp(direction, "L") == 0) { // Turn Left
		setMotors(revSpeed, speed); // setMotors(leftSpeed, rightSpeed)
	} else if (strcmp(direction, "R") == 0) { // Turn Right
		setMotors(speed, revSpeed); // setMotors(leftSpeed, rightSpeed)
	} else {
	  wait1Msec(100);
	}
	// Wait for the specified amount of time
	wait1Msec(timeMs);
	// Turn off the motors
	stop();
}

/* Move the bot's arm up or down
 * 
 * Arguments:
 * - speed: signed integer. -127 to 127
 *   - <0: Down
 *   - >0: Up
 *   - Speed to drive the arm motor
 * - timeMs: signed integer
 *   - Time to wait before stopping the arm, in milliseconds
*/
void moveArm(int speed, int timeMs) {
	// Turn on the motor at the set speed
	motor[armMotor] = speed;
	// Wait for the set time
	wait1Msec(timeMs);
	// Turn the motor off
	motor[armMotor] = 0;
}

/* Put your arms in the air like you just don't care
 * Moves the bot's arm up until it reaches a preset position,
 * determined by a potentiometer
 *
 * Arguments:
 * - speed: signed integer. 0 to 127
 *   - Speed to drive the arm motor
 *
 * Logic:
 * - Arm Position Potentiometer:
 *   - Claw Vertical: 1600
 *   - Claw Soft Limit: 1800
 *   - Claw Hard Limit: 2100
*/
void armUp100(int speed) {
	// Check that the arm potentiometer is showing a value below 1800
	while (SensorValue[armPos] <= 1800) {
		// Set the motor to the desired speed
		motor[armMotor] = speed;
	}
	// Once the arm position is showing > 1800, shut off the arm
	motor[armMotor] = 0;
}

/* Moves the robot's arm down until the limit switch is pressed
 *
 * Arguments:
 * - speed: signed integer. 0 to 127
 *   - Speed to drive the arm motor
 *
 * Logic:
 * - Arm Limit Switch:
 *   - Momentary switch, normally closed.
 *   - When arm is not making contact, shows a logical 1
*/
void armDown100(int speed) {
	// While the arm limit switch isn't being contacted
	while (SensorValue[armLimit] == 1) {
		// Invert the given speed to make the motor go down
		int revSpeed = speed * -1;
		// Turn on the motor at the set speed
		motor[armMotor] = revSpeed;
	}
	// Once the limit switch is being contacted (logical 0), stop the arm motor
	motor[armMotor] = 0;
}

/* Close the claw
 *
 * Arguments: None
 * Notes: TODO: This should have some variability, and ideally
 *   would have a way to detect resistance against the claw
*/
void clawGrab() {
	// Turn on the motor at the half speed
	motor[clawMotor] = -32;
	// Wait for the set time
	wait1Msec(1000);
	// Turn the motor off
	motor[clawMotor] = 0;
}

/* Open the claw
 *
 * Arguments: None
 * Notes: TODO: This should have some variability, and ideally
 *   would have a way to detect the claw being open 100%
*/
void clawRelease() {
	// Turn on the motor at the half speed
	motor[clawMotor] = 32;
	// Wait for the set time
	wait1Msec(1000);
	// Turn the motor off
	motor[clawMotor] = 0;
}

/* Run the autonomous code, called when the start button is pressed.
 *
 * Arguments: None
 * Notes: TODO: Find a way to recall main() so this can be rerun without rebooting/recompiling
*/
void runAutonomous() {
	// Drive Left Side
	// driveOneSide("L", 127, 1000);
	// Drive Right Side
	// driveOneSide("R", 127, 1000);
	// Reverse Left Side
	// driveOneSide("L", -127, 1000);
	// Reverse Right Side
	// driveOneSide("R", -127, 1000);
	// Drive forward 3 seconds
	// driveForward(127, 3000);
	// Drive backwards 3 seconds
	// driveBackward(127, 3000);
	// Left forward, right reverse
	// turn("R", 127, 1000, true);
	// Half-speed forward
	// driveForward(64, 3000);
	// Quarter-speed forward
	// driveForward(32, 3000);
	// Raise the arm up a bit
	// armUp(127, 500);
	// Drop the arm all the way down
	// armDown100(16);
	clawRelease();
	clawGrab();
	armUp100(32);
	clawRelease();
	clawGrab();
	armDown100(16);
}

/* Wait for the start button to be pressed, then run autonomous code.
 *
 * Arguments: None
*/
void waitForStart() {
	while (SensorValue[startBumper]==1) {
		wait1Msec(500);
	}
	// Once we've detected a button press, run the autonomous function block.
	runAutonomous();
	// TODO: Experimental, hoping this will call this function again when done instead of exiting
	waitForStart();
}

// This function gets called automatically once the bot is booted.
task main() {
	waitForStart();
}