#ifndef Y2024_BOT3_CONSTANTS_H_
#define Y2024_BOT3_CONSTANTS_H_

#include <array>
#include <cmath>
#include <cstdint>

#include "frc971/constants.h"
#include "frc971/control_loops/pose.h"
#include "frc971/control_loops/static_zeroing_single_dof_profiled_subsystem.h"
#include "frc971/zeroing/absolute_encoder.h"
#include "frc971/zeroing/pot_and_absolute_encoder.h"
#include "y2024_bot3/constants/constants_generated.h"

namespace y2024_bot3::constants {

constexpr uint16_t kThirdRobotTeamNumber = 9971;

struct Values {
  static const int kSuperstructureCANWriterPriority = 35;

  struct PotAndAbsEncoderConstants {
    ::frc971::control_loops::StaticZeroingSingleDOFProfiledSubsystemParams<
        ::frc971::zeroing::PotAndAbsoluteEncoderZeroingEstimator>
        subsystem_params;
    double potentiometer_offset;
  };

  struct AbsoluteEncoderConstants {
    ::frc971::control_loops::StaticZeroingSingleDOFProfiledSubsystemParams<
        ::frc971::zeroing::AbsoluteEncoderZeroingEstimator>
        subsystem_params;
  };

  struct PotConstants {
    ::frc971::control_loops::StaticZeroingSingleDOFProfiledSubsystemParams<
        ::frc971::zeroing::RelativeEncoderZeroingEstimator>
        subsystem_params;
    double potentiometer_offset;
  };
};

// Creates and returns a Values instance for the constants.
// Should be called before realtime because this allocates memory.
// Only the first call to either of these will be used.
constants::Values MakeValues(uint16_t team);

// Calls MakeValues with aos::network::GetTeamNumber()
constants::Values MakeValues();

}  // namespace y2024_bot3::constants

#endif  // Y2024_BOT3_CONSTANTS_H_