package frc.robot; //veya başka bişi
 
/*
*
*
*
*
*
*
*
*    HER CLASS NORMALDE FARKLI DOSYADA, javada bir dosyada sadece tek public class olabiliyor, aynı zamanda command ve subsystemlar için private kullanılamaz
*
*
*
*
*
*
*/
 
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
 
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import com.ctre.phoenix.motorcontrol.can.*;
import com.ctre.phoenix.motorcontrol.can.WPI_VictorSPX;
import edu.wpi.first.wpilibj.SpeedController;
import edu.wpi.first.wpilibj.SpeedControllerGroup;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj2.command.CommandBase;
import edu.wpi.first.wpilibj2.command.button.JoystickButton;
import edu.wpi.first.wpilibj.XboxController;
import edu.wpi.first.wpilibj2.command.CommandScheduler;
 
public class DriveBase extends SubsystemBase
{
    private static DriveBase INSTANCE;
 
    public static DriveBase getInstance() {
        if (INSTANCE == null) {
            synchronized (DriveBase.class) {
                if (INSTANCE == null) {
                    INSTANCE = new DriveBase();
                }
            }
        }
        return INSTANCE;
    }
 
 
   public WPI_VictorSPX mleft; //kaç motor olduğu yazmıyordu 2 güzel
   public WPI_VictorSPX mright;
 
   public DifferentialDrive difDrive;
 
   private DriveBase(){
      mleft    = new WPI_VictorSPX(0);
      mright   = new WPI_VictorSPX(1);
      difDrive = new DifferentialDrive(mleft,mright);
   }
 
  public tankDrive(double leftSpeed, double rightSpeed)
  {
    difDrive.tankDrive(leftSpeed*0.5,rightSpeed*0.5);
  }
 
 
    public void periodic() {        
    }
}
 
public class Redline extends SubsystemBase
{
    private static Redline INSTANCE;
 
    public static Redline getInstance() {
        if (INSTANCE == null) {
            synchronized (Redline.class) {
                if (INSTANCE == null) {
                    INSTANCE = new Redline ();
                }
            }
        }
        return INSTANCE;
    }
 
   
    public WPI_VictorSPX motorZ;
   
    private Redline()
    {
    motorZ = new WPI_VictorSPX(2);
    }
   
    public void startMotor()
    {
      motorZ.set(0.5);
    }
 
    public void stopMotor()
    {
      motorZ.set(0);
    }
 
}
 
 
public class RedlineStart extends CommandBase
{
    public Redline m_rl = Redline.getInstance();
   
    public RedlineStart(){
    }
 
    public void initilaze(){
      m_rl.startMotor();
     
    }
 
    public void end(boolean interrupted) {
      m_rl.stopMotor();
    }
 
}
 
 
public class BenimJoystick
{
 
  public XboxController xBOX;
  public RedlineStart rlCommand = new RedlineStart();
 
  public BenimJoystick()
  {
    xBOX = new XboxController(0);
    configJoystick();
  }
 
 
  public void configJoystick()
  {
    JoystickButton rl_Button = new JoystickButton(xBOX, 1);
    rl_Button.whenHeld(rlCommand);
  }
}
 
 
 
public class Robot extends TimedRobot {
   
  public BenimJoystick stick = new BenimJoystick();
  public DriveBase m_drive = DriveBase.getInstance();
 
  @Override
  public void robotInit() {
  }
 
 
  @Override
  public void robotPeriodic() {
      CommandScheduler.getInstance().run();
  }
 
 
  @Override
  public void disabledInit() {
  }
 
  @Override
  public void disabledPeriodic() {
  }
 
 
  @Override
  public void autonomousInit() {
  }
 
 
  @Override
  public void autonomousPeriodic(){
  }
 
  @Override
  public void teleopInit() {
  }
 
 
  @Override
  public void teleopPeriodic() {
  m_drive.tankDrive(stick.xBOX.getRawAxis(1), stick.xBOX.getRawAxis(5));
  }
 
  @Override
  public void testInit() {
  }
 
 
  @Override
  public void testPeriodic() {
  }
}