/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017-2018 FIRST. All Rights Reserved.                        */
/* Open Source Software - may be modified and shared by FRC teams. The code   */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project.                                                               */
/*----------------------------------------------------------------------------*/

package frc.robot;

import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.XboxController;
import edu.wpi.first.wpilibj.GenericHID.Hand;
import com.ctre.phoenix.motorcontrol.can.*;

/**
 * The VM is configured to automatically run this class, and to call the
 * functions corresponding to each mode, as described in the TimedRobot
 * documentation. If you change the name of this class or the package after
 * creating this project, you must also update the build.gradle file in the
 * project.
 */
public class Robot extends TimedRobot {
  private XboxController xbox; 
  private WPI_TalonSRX m_Left;

  /**
   * This function is run when the robot is first started up and should be
   * used for any initialization code.
   */
  @Override
  public void robotInit() {
    xbox = new XboxController(0); // Xbox controller on port 0
    m_Left = new WPI_TalonSRX(4); // CAN Talon ID 4
  }

  /**
   * This function is called every robot packet, no matter the mode. Use
   * this for items like diagnostics that you want ran during disabled,
   * autonomous, teleoperated and test.
   *
   * <p>This runs after the mode specific periodic functions, but before
   * LiveWindow and SmartDashboard integrated updating.
   */
  @Override
  public void robotPeriodic() {
  }

  @Override
  public void autonomousInit() {
  }

  /**
   * This function is called periodically during autonomous.
   */
  @Override
  public void autonomousPeriodic() {
  }

  /**
   * This function is called periodically during operator control.
   */
  @Override
  public void teleopPeriodic() {
    // Read xbox controller left joystick Y axis
    // value returned is between -1.0 and 1.0

    // For xbox controller, uncomment the following line
    // double x = xbox.getY(Hand.kLeft); 
    // For Logitech F310 controller, uncomment the following line
    double x = -xbox.getRawAxis(1);
    
    // DC Motor controllers apply between -1.0 (full reverse)
    // 0=stop and +1.0 (full forward) power
    // Set motor speed based on joystick
    m_Left.set(x);
  }

  /**
   * This function is called periodically during test mode.
   */
  @Override
  public void testPeriodic() {
  }
}