package frc.robot;

import com.revrobotics.CANSparkMax;
import com.revrobotics.CANSparkLowLevel.MotorType;

import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.I2C;
import edu.wpi.first.wpilibj.I2C.Port;
import frc.robot.util.IMUGyro;

public class Constants 
{
    public static final int PortDriverController = 0;

    public static final double DriveMaxSpeed = 20; // m/s
    public static final double DriveMaxAngular = Math.PI; // rad/s?

    public static final double WheelRadius = 0; // in meters
    public static final double TrackWidth = 0;  // in meters

    public static final double EncoderResolution = 4096;
    
    public static final IMUGyro gyro = new IMUGyro(new I2C(Port.kOnboard, 0x68));

    public static final CANSparkMax motorL_leader = new CANSparkMax(40, MotorType.kBrushed);
    public static final CANSparkMax motorL_follower = new CANSparkMax(41, MotorType.kBrushed);
    public static final CANSparkMax motorR_leader = new CANSparkMax(42, MotorType.kBrushed);
    public static final CANSparkMax motorR_follower = new CANSparkMax(43, MotorType.kBrushed);

    public static final Encoder encoderL = new Encoder(0, 1);
    public static final Encoder encoderR = new Encoder(2, 3);
}