package frc.robot;

import edu.wpi.first.wpilibj.RobotBase;

/**
 * Do NOT add any static variables to this class, or any initialization at all. Unless you know what
 * you are doing, do not modify this file except to change the parameter class to the startRobot
 * call.
 */
public final class Main {
  private Main() {}

  /**
   * Main initialization function. Do not perform any initialization here.
   *
   * <p>If you change your main robot class, change the parameter type.
   */
  public static void main(String... args) {
    RobotBase.startRobot(Robot::new);
  }
}

  @Override
  public void robotInit() {
    m_robotContainer = new RobotContainer();
  }

  @Override
  public void robotPeriodic() {
    CommandScheduler.getInstance().run();
  }
  
  @Override
  public void disabledInit() {

  }

  @Override
  public void disabledPeriodic() {

  }

  @Override
  public void autonomousInit() {
    m_autonomousCommand = 
    m_robotContainer.getAutonomousCommand();

    if (m_autonomousCommand != null) {
      m_autonomousCommand.schedule();
    }
  }

  @Override
  public void autonomousPeriodic() {

  }

  @Override
  public void teleopInit() {
    if (m_autonomousCommand != null) {
      m_autonomousCommand.cancel();
    }
  }

  @Override
  public void teleopPeriodic() {}

  @Override
  public void testInit() {
    CommandScheduler.getInstance().cancelAll();
  }

  @Override
  public void testPeriodic() {}

  @Override
  public void simulationInit() {}

  @Override
  public void simulationPeriodic() {}

  private void configureButtonBindings() {}

  public Command getAutonomousCommand() {
    return m_autoCommand;
  }

    public static enum PortID{
        shoot_up(0, true),
        shoot_down(1, true),
        shoot_turn(2, true),
        shoot_elevation(3, true);
        public final int value;
        public final boolean reversed; //reversed

        PortID(int value, boolean reversed) {
            this.value = value;
            this.reversed = reversed;
        }
    }
    public static double max_turn = 0;
    public static double min_turn = -2700;
    public static double max_elevate = 155;
    public static double min_elevate = 0;
    public static double speed_ratio = 0.375; //down:up

@Override
public void periodic() {

}

@Override
public void simulationPeriodic() {

}

  @Override
  public void initialize() {}

@Override
  public void execute() {}

  @Override
  public void end(boolean interrupted) {}

    @Override
    public boolean isFinished() {
        return false;
    }