package first.robot.utilities;

import java.util.function.DoubleSupplier;

import org.wpilib.command2.Command;
import org.wpilib.command2.SubsystemBase;
import org.wpilib.hardware.bus.CANPort;

import com.revrobotics.spark.SparkLowLevel.MotorType;
import com.revrobotics.spark.SparkMax;

/**
 * A simple subsystem that can be used to test a single SparkMax and associated NEO motor
 */
public class SparkMAXTester extends SubsystemBase {
    private SparkMax spark;

    /**
     * Constructor
     * 
     * @param deviceID The CAN ID of the SparkMAX that needs testing
     */
    public SparkMAXTester(CANPort canPort, int deviceID) {
        spark = new SparkMax(canPort, deviceID, MotorType.kBrushless);
    }

    /**
     * Sets the speed of the motor
     * 
     * @param speed A method or lambda which returns a double between -1 and 1
     * @return A Command object that runs indefinitely to control motor speed
     */
    public Command setSpeed(DoubleSupplier speed) {
        return run(() -> {
            spark.setThrottle(speed.getAsDouble());
        });
    }
}