package org.usfirst.frc.team4795.robot.subsystems;

import org.usfirst.frc.team4795.robot.RobotMap;
import org.usfirst.frc.team4795.robot.commands.HoldArm;
import org.usfirst.frc.team4795.robot.commands.ManualArm;

import edu.wpi.first.wpilibj.CANJaguar;
import edu.wpi.first.wpilibj.CANJaguar.JaguarControlMode;
import edu.wpi.first.wpilibj.CANJaguar.LimitMode;
import edu.wpi.first.wpilibj.CANJaguar.NeutralMode;
import edu.wpi.first.wpilibj.command.Subsystem;

public class Arm extends Subsystem {
    
    //private final CANJaguar motor;
    
    public Arm() {
       // motor = new CANJaguar(RobotMap.ARM_MOTOR.value);
        //motor.disableControl();
       // motor.configEncoderCodesPerRev(497);
        //motor.configMaxOutputVoltage(12);
        //motor.configLimitMode(LimitMode.SwitchInputsOnly);
        //motor.setControlMode(JaguarControlMode.Position.getValue());
        //motor.setPositionMode(CANJaguar.kQuadEncoder, 497, 0.0, 0.0, 0.0);
        //motor.set(0.0);
        //motor.setControlMode(JaguarControlMode.Position.getValue());
        //motor.setPercentMode(CANJaguar.kQuadEncoder, 497);
        //motor.configNeutralMode(NeutralMode.Brake);
        //motor.enableControl();
    }
    
    public double getArmDegrees() {
        return 1; //motor.getPosition() * 360.0;
    }
    
    public void setPID(double P, double I, double D) {
        //motor.setPID(P, I, D);
    }
    
    public void startSpeedMode(double p, double i, double d) {
        //motor.disableControl();
        //motor.setSpeedMode(CANJaguar.kQuadEncoder, 2048, p, i, d);
        //motor.enableControl();
      }
    public void setArmDegrees(double angle, double P, double I, double D) {
        //motor.setPID(P, I, D);
        //motor.set(angle / 360.0);
    }
    
    @Override
    protected void initDefaultCommand() {
        setDefaultCommand(new HoldArm());
    }
    
    public void setControlMode(int mode){
    	//motor.setControlMode(mode);	
    }
    public void setRaw(double value) {
    	//motor.set(value);
    }
    public boolean getForwardLimit(){
    	return true;//motor.getForwardLimitOK();
    }
    
    public boolean getBackLimit(){
    	return true;//motor.getReverseLimitOK();
    }
    
}

@@ -503,18 +503,16 @@
    %0A    
-//
 private 
@@ -561,26 +561,24 @@
 () %7B%0A       
-//
  motor = new
@@ -615,34 +615,32 @@
 value);%0A        
-//
 motor.disableCon
@@ -654,18 +654,16 @@
 %0A       
-//
  motor.c
@@ -692,34 +692,32 @@
 v(497);%0A        
-//
 motor.configMaxO
@@ -734,34 +734,32 @@
 ge(12);%0A        
-//
 motor.configLimi
@@ -967,34 +967,32 @@
 t(0.0);%0A        
-//
 motor.setControl
@@ -1036,34 +1036,32 @@
 lue());%0A        
-//
 motor.setPercent
@@ -1099,26 +1099,24 @@
 7);%0A        
-//
 motor.config
@@ -1147,34 +1147,32 @@
 Brake);%0A        
-//
 motor.enableCont
@@ -1244,13 +1244,8 @@
 urn 
-1; //
 moto
@@ -1335,34 +1335,32 @@
 le D) %7B%0A        
-//
 motor.setPID(P, 
@@ -1444,26 +1444,24 @@
 ) %7B%0A        
-//
 motor.disabl
@@ -1472,34 +1472,32 @@
 trol();%0A        
-//
 motor.setSpeedMo
@@ -1543,26 +1543,24 @@
 d);%0A        
-//
 motor.enable
@@ -1654,34 +1654,32 @@
 le D) %7B%0A        
-//
 motor.setPID(P, 
@@ -1685,34 +1685,32 @@
  I, D);%0A        
-//
 motor.set(angle 
@@ -1882,26 +1882,24 @@
 mode)%7B%0A    %09
-//
 motor.setCon
@@ -1965,18 +1965,16 @@
  %7B%0A    %09
-//
 motor.se
@@ -2031,39 +2031,32 @@
 ()%7B%0A    %09return 
-true;//
 motor.getForward
@@ -2128,15 +2128,8 @@
 urn 
-true;//
 moto

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