@echo off
REM Generate Drive.java subsystem
setlocal

set "PROJECT_DIR=%~1"

(
echo package robot.subsystems;
echo.
echo import robot.Pose2d;
echo.
echo /**
echo  * Drive subsystem - business logic only.
echo  * Hardware interface defined as inner interface.
echo  * Tests use inline mocks - no FTC SDK needed.
echo  */
echo public class Drive {
echo     private final Hardware hardware;
echo     private Pose2d pose;
echo.    
echo     public Drive^(Hardware hardware^) {
echo         this.hardware = hardware;
echo         this.pose = new Pose2d^(^);
echo     }
echo.    
echo     /**
echo      * Drive using field-centric controls.
echo      * @param forward Forward/backward speed ^(-1.0 to 1.0^)
echo      * @param strafe Left/right speed ^(-1.0 to 1.0^)
echo      * @param rotate Rotation speed ^(-1.0 to 1.0^)
echo      */
echo     public void drive^(double forward, double strafe, double rotate^) {
echo         // Your drive logic here
echo         double heading = hardware.getHeading^(^);
echo.        
echo         // Example: field-centric conversion
echo         double cos = Math.cos^(heading^);
echo         double sin = Math.sin^(heading^);
echo.        
echo         double rotatedForward = forward * cos - strafe * sin;
echo         double rotatedStrafe = forward * sin + strafe * cos;
echo.        
echo         hardware.setPowers^(rotatedForward, rotatedStrafe, rotate^);
echo     }
echo.    
echo     /**
echo      * Stop all drive motors.
echo      */
echo     public void stop^(^) {
echo         hardware.setPowers^(0, 0, 0^);
echo     }
echo.    
echo     /**
echo      * Get current estimated pose.
echo      */
echo     public Pose2d getPose^(^) {
echo         return pose;
echo     }
echo.    
echo     /**
echo      * Hardware interface - implement this for real robot.
echo      */
echo     public interface Hardware {
echo         /**
echo          * Get robot heading in radians.
echo          */
echo         double getHeading^(^);
echo.        
echo         /**
echo          * Set drive motor powers.
echo          * @param forward Forward power
echo          * @param strafe Strafe power
echo          * @param rotate Rotation power
echo          */
echo         void setPowers^(double forward, double strafe, double rotate^);
echo     }
echo }
) > "%PROJECT_DIR%\src\main\java\robot\subsystems\Drive.java"

endlocal
exit /b 0