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 edu.wpi.first.wpilibj2.command.button.CommandXboxController;
import frc.robot.util.IMUGyro;

public class Constants 
{
    public static final CommandXboxController controller = new CommandXboxController(0);

    public static final double DriveMaxSpeed = 5; // m/s
    public static final double DriveMaxAngular = Math.PI; // rad/s?

    public static final double WheelDiameter = 0.1524; // in meters
    public static final double TrackWidth = 0.685;  // in meters

    public static final double EncoderResolution = 4096 / 24;
    
    public static final IMUGyro gyro = new IMUGyro(new I2C(Port.kOnboard, 0x68));

    public static final CANSparkMax motorL_leader = new CANSparkMax(11, MotorType.kBrushed);
    public static final CANSparkMax motorL_follower = new CANSparkMax(12, MotorType.kBrushed);
    public static final CANSparkMax motorR_leader = new CANSparkMax(13, MotorType.kBrushed);
    public static final CANSparkMax motorR_follower = new CANSparkMax(14, MotorType.kBrushed);

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