package com.edinarobotics.zephyr.autonomous;

import com.edinarobotics.utils.autonomous.*;
import com.edinarobotics.zephyr.Zephyr;

/**
 *
 */
public class AutonomousStepFactory {
    private Zephyr robot;
    
    public AutonomousStepFactory(Zephyr robot){
        this.robot = robot;
    }
    
    public AutonomousStep getShooterFireStep(double shooterSpeed, int numShots){
        final double PISTON_SET_DELAY = 1;
        final double BALL_LOAD_DELAY = 2.5;
        //Steps to bring the piston up and down
        AutonomousStep[] fireSteps = new AutonomousStep[7];
        fireSteps[0] = new ShooterPistonControlStep(true, robot);
        fireSteps[1] = new IdleWaitStep(PISTON_SET_DELAY, robot);
        fireSteps[2] = new ShooterPistonControlStep(false, robot);
        fireSteps[3] = new IdleWaitStep(PISTON_SET_DELAY, robot);
        fireSteps[4] = new SetConveyorStep(true, robot);
        fireSteps[5] = new IdleWaitStep(BALL_LOAD_DELAY, robot);
        fireSteps[6] = new SetConveyorStep(false, robot);
        
        AutonomousStep[] steps = new AutonomousStep[4];
        //Start the shooter
        steps[0] = shooterVoltageEstimateStep(shooterSpeed, 3, 3);
        //Fire the piston several times
        steps[2] = new ForLoopStep(new SequentialAutonomousStepGroup(fireSteps), numShots);
        //Stop the shooter
        steps[3] = new SetShooterSpeedStep(0, robot);
        
        return new SequentialAutonomousStepGroup(steps);
    }
    
    public AutonomousStep shooterVoltageEstimateStep(double targetVelocity, double estimate1Delay, double estimate2Delay){
        final double ITER_1_FRACTION = 0.75;
        AutonomousStep[] warmupSteps  = new AutonomousStep[4];
        warmupSteps[0] = new ShooterVoltagePWMStep(targetVelocity, robot);
        warmupSteps[1] = new IdleWaitStep(estimate1Delay, robot);
        warmupSteps[2] = new ShooterVoltagePWMStep(targetVelocity, robot);
        warmupSteps[3] = new IdleWaitStep(estimate2Delay,robot);
        return new SequentialAutonomousStepGroup(warmupSteps);
    }
}

@@ -1065,33 +1065,33 @@
  AutonomousStep%5B
-4
+3
 %5D;%0A        //Sta
@@ -1222,25 +1222,25 @@
       steps%5B
-2
+1
 %5D = new ForL
@@ -1341,25 +1341,25 @@
       steps%5B
-3
+2
 %5D = new SetS

Fix autonomous step numbers.