package com.frc2879.knight_fury;

import com.frc2879.knight_fury.subsystems.*;

import edu.wpi.first.wpilibj.command.Command;
import edu.wpi.first.wpilibj.command.Scheduler;
import edu.wpi.first.wpilibj.livewindow.LiveWindow;
import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import jaci.openrio.toast.core.ToastConfiguration;
import jaci.openrio.toast.lib.log.Logger;
import jaci.openrio.toast.lib.module.IterativeModule;
import jaci.openrio.toast.lib.state.RobotState;

public class RobotModule extends IterativeModule {

    public static Logger logger;
    
    public static final String moduleName = "2016-knight-fury";
    public static final String moduleVersion = "0.0.1";
    
    public static final String robotName = ToastConfiguration.Property.ROBOT_NAME.asString();
    public static final int robotTeam = ToastConfiguration.Property.ROBOT_TEAM.asInt();
    public static final String robotDesc = ToastConfiguration.Property.ROBOT_DESC.asString();

    @Override
    public String getModuleName() {
        return moduleName;
    }

    @Override
    public String getModuleVersion() {
        return moduleVersion;
    }

    public static OI oi;
    
    public static Drivetrain drivetrain;
    public static Arm arm;
    public static Grabber grabber;
    public static Pneumatics pneumatics;
    public static Shooter shooter;

    Command autonomousCommand;
    SendableChooser chooser;

    /**
     * This function is run when the robot is first started up and should be
     * used for any initialization code.
     */
    @Override
    public void robotInit() {
        logger = new Logger(moduleName, Logger.ATTR_DEFAULT);
        // TODO: Module Init
        
        RobotConfig.load();

        oi = new OI();
        
        drivetrain = new Drivetrain();
        arm = new Arm();
        grabber = new Grabber();
        pneumatics = new Pneumatics();
        shooter = new Shooter();
        
        
        chooser = new SendableChooser();
        //chooser.addDefault("Default Auto", new ExampleCommand());
        // chooser.addObject("My Auto", new MyAutoCommand());
        SmartDashboard.putData("Auto mode", chooser);
    }
    
    @Override
    public void tickState(RobotState state) {
        Scheduler.getInstance().run();
    }

    /**
     * This function is called once each time the robot enters Disabled mode.
     * You can use it to reset any subsystem information you want to clear when
     * the robot is disabled.
     */
    public void disabledInit() {

    }

    public void disabledPeriodic() {
        //Scheduler.getInstance().run();
    }

    /**
     * This autonomous (along with the chooser code above) shows how to select
     * between different autonomous modes using the dashboard. The sendable
     * chooser code works with the Java SmartDashboard. If you prefer the
     * LabVIEW Dashboard, remove all of the chooser code and uncomment the
     * getString code to get the auto name from the text box below the Gyro
     *
     * You can add additional auto modes by adding additional commands to the
     * chooser code above (like the commented example) or additional comparisons
     * to the switch structure below with additional strings & commands.
     */
    public void autonomousInit() {
        autonomousCommand = (Command) chooser.getSelected();

        /*
         * String autoSelected = SmartDashboard.getString("Auto Selector",
         * "Default"); switch(autoSelected) { case "My Auto": autonomousCommand
         * = new MyAutoCommand(); break; case "Default Auto": default:
         * autonomousCommand = new ExampleCommand(); break; }
         */

        // schedule the autonomous command (example)
        if (autonomousCommand != null)
            autonomousCommand.start();
    }

    /**
     * This function is called periodically during autonomous
     */
    public void autonomousPeriodic() {
        //Scheduler.getInstance().run();
    }

    public void teleopInit() {
        // This makes sure that the autonomous stops running when
        // teleop starts running. If you want the autonomous to
        // continue until interrupted by another command, remove
        // this line or comment it out.
        if (autonomousCommand != null) autonomousCommand.cancel();
    }

    /**
     * This function is called periodically during operator control
     */
    public void teleopPeriodic() {
        //Scheduler.getInstance().run();
    }

    /**
     * This function is called periodically during test mode
     */
    public void testPeriodic() {
        LiveWindow.run();
    }
}

@@ -742,17 +742,17 @@
  = %220.0.
-1
+2
 %22;%0A    %0A

Bump version and test Travis