@echo off
REM Generate MecanumDrive.java hardware implementation
setlocal

set "PROJECT_DIR=%~1"

(
echo package robot.hardware;
echo.
echo import robot.subsystems.Drive;
echo.
echo // Uncomment when deploying to robot:
echo // import com.qualcomm.robotcore.hardware.DcMotor;
echo // import com.qualcomm.robotcore.hardware.HardwareMap;
echo // import com.qualcomm.robotcore.hardware.IMU;
echo // import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
echo.
echo /**
echo  * Mecanum drive hardware implementation.
echo  * Implements Drive.Hardware interface.
echo  * 
echo  * DEPLOYMENT NOTE:
echo  * Uncomment FTC imports and implementation when ready to deploy.
echo  * Keep commented during development/testing on PC.
echo  */
echo public class MecanumDrive implements Drive.Hardware {
echo.    
echo     // Uncomment when deploying:
echo     // private final DcMotor frontLeft;
echo     // private final DcMotor frontRight;
echo     // private final DcMotor backLeft;
echo     // private final DcMotor backRight;
echo     // private final IMU imu;
echo.    
echo     public MecanumDrive^(/* HardwareMap hardwareMap */^) {
echo         // Uncomment when deploying:
echo         // frontLeft = hardwareMap.get^(DcMotor.class, "frontLeft"^);
echo         // frontRight = hardwareMap.get^(DcMotor.class, "frontRight"^);
echo         // backLeft = hardwareMap.get^(DcMotor.class, "backLeft"^);
echo         // backRight = hardwareMap.get^(DcMotor.class, "backRight"^);
echo         // imu = hardwareMap.get^(IMU.class, "imu"^);
echo         //
echo         // // Configure motors
echo         // frontLeft.setZeroPowerBehavior^(DcMotor.ZeroPowerBehavior.BRAKE^);
echo         // frontRight.setZeroPowerBehavior^(DcMotor.ZeroPowerBehavior.BRAKE^);
echo         // backLeft.setZeroPowerBehavior^(DcMotor.ZeroPowerBehavior.BRAKE^);
echo         // backRight.setZeroPowerBehavior^(DcMotor.ZeroPowerBehavior.BRAKE^);
echo     }
echo.    
echo     @Override
echo     public double getHeading^(^) {
echo         // Stub for testing - returns 0
echo         return 0.0;
echo.        
echo         // Uncomment when deploying:
echo         // return imu.getRobotYawPitchRollAngles^(^).getYaw^(AngleUnit.RADIANS^);
echo     }
echo.    
echo     @Override
echo     public void setPowers^(double forward, double strafe, double rotate^) {
echo         // Stub for testing - does nothing
echo.        
echo         // Uncomment when deploying:
echo         // // Mecanum drive kinematics
echo         // double frontLeftPower = forward + strafe + rotate;
echo         // double frontRightPower = forward - strafe - rotate;
echo         // double backLeftPower = forward - strafe + rotate;
echo         // double backRightPower = forward + strafe - rotate;
echo         //
echo         // // Normalize powers
echo         // double maxPower = Math.max^(1.0, Math.max^(
echo         //     Math.max^(Math.abs^(frontLeftPower^), Math.abs^(frontRightPower^)^),
echo         //     Math.max^(Math.abs^(backLeftPower^), Math.abs^(backRightPower^)^)
echo         // ^)^);
echo         //
echo         // frontLeft.setPower^(frontLeftPower / maxPower^);
echo         // frontRight.setPower^(frontRightPower / maxPower^);
echo         // backLeft.setPower^(backLeftPower / maxPower^);
echo         // backRight.setPower^(backRightPower / maxPower^);
echo     }
echo }
) > "%PROJECT_DIR%\src\main\java\robot\hardware\MecanumDrive.java"

endlocal
exit /b 0