// Basic demo for accelerometer readings from Adafruit MPU6050
#include <Servo.h>
#include <Adafruit_MPU6050.h>
#include <Adafruit_Sensor.h>
#include <Wire.h>
#include <SPI.h>
#include <SD.h>

Adafruit_MPU6050 mpu;
Servo s;
File myFile ;
int pinCS = 10;
void setup(void) {
  s.attach(9);
  Serial.begin(9600);
  pinMode(pinCS, OUTPUT);
  if(SD.begin()){
    Serial.println("Ready to use");
  }
  else{
    Serial.println("SD failed");
    return;
  }
  myFile = SD.open("test.txt", FILE_WRITE);
  if (myFile) {
Serial.print("Writing to test.txt...");
myFile.println("This is a test file :)");
myFile.println("testing 1, 2, 3.");}
else{
  Serial.println("error opening test.txt");
}
  





  
  Serial.begin(115200);
  while (!Serial)
    delay(10); // will pause Zero, Leonardo, etc until serial console opens

  Serial.println("Adafruit MPU6050 test!");

  // Try to initialize!
  if (!mpu.begin()) {
    Serial.println("Failed to find MPU6050 chip");
    while (1) {
      delay(10);
    }
  }
  Serial.println("MPU6050 Found!");

  mpu.setAccelerometerRange(MPU6050_RANGE_8_G);
  Serial.print("Accelerometer range set to: ");
  switch (mpu.getAccelerometerRange()) {
  case MPU6050_RANGE_2_G:
    Serial.println("+-2G");
    break;
  case MPU6050_RANGE_4_G:
    Serial.println("+-4G");
    break;
  case MPU6050_RANGE_8_G:
    Serial.println("+-8G");
    break;
  case MPU6050_RANGE_16_G:
    Serial.println("+-16G");
    break;
  }
  mpu.setGyroRange(MPU6050_RANGE_500_DEG);
  Serial.print("Gyro range set to: ");
  switch (mpu.getGyroRange()) {
  case MPU6050_RANGE_250_DEG:
    Serial.println("+- 250 deg/s");
    break;
  case MPU6050_RANGE_500_DEG:
    Serial.println("+- 500 deg/s");
    break;
  case MPU6050_RANGE_1000_DEG:
    Serial.println("+- 1000 deg/s");
    break;
  case MPU6050_RANGE_2000_DEG:
    Serial.println("+- 2000 deg/s");
    break;
  }

  mpu.setFilterBandwidth(MPU6050_BAND_21_HZ);
  Serial.print("Filter bandwidth set to: ");
  switch (mpu.getFilterBandwidth()) {
  case MPU6050_BAND_260_HZ:
    Serial.println("260 Hz");
    break;
  case MPU6050_BAND_184_HZ:
    Serial.println("184 Hz");
    break;
  case MPU6050_BAND_94_HZ:
    Serial.println("94 Hz");
    break;
  case MPU6050_BAND_44_HZ:
    Serial.println("44 Hz");
    break;
  case MPU6050_BAND_21_HZ:
    Serial.println("21 Hz");
    break;
  case MPU6050_BAND_10_HZ:
    Serial.println("10 Hz");
    break;
  case MPU6050_BAND_5_HZ:
    Serial.println("5 Hz");
    break;
  }

  Serial.println("");
  delay(100);
  s.write(0);
}

void loop() {

  /* Get new sensor events with the readings */
  sensors_event_t a, g, temp;
  mpu.getEvent(&a, &g, &temp);

  /* Print out the values */
  // Serial.print("Acceleration X: ");
  // Serial.print(a.acceleration.x);
  // Serial.print(", Y: ");
  // Serial.print(a.acceleration.y);
  // Serial.print(", Z: ");
  // Serial.print(a.acceleration.z);
  // Serial.println(" m/s^2");

  // Serial.print("Rotation X: ");
  // Serial.print(g.gyro.x);
  // Serial.print(", Y: ");
  // Serial.print(g.gyro.y);
  // Serial.print(", Z: ");
  // Serial.print(g.gyro.z);
  // Serial.println(" rad/s");

  // Serial.print("Temperature: ");
  // Serial.print(temp.temperature);
  // Serial.println(" degC");

  // Serial.println("");

  //----------------Motor Stabalization-----
  // double angle = g.gyro.x;
  // s.write(90+angle/0.018);
  // Serial.print(angle/0.018);
  // Serial.println("");
  //----------------Spoilers------------
  if(a.acceleration.z/9.8<=-0.45){
    s.write(90);
  }
  else {
    s.write(0);
  }
 //----------------Velocity---------------
  Serial.print("Speed is : ");
  Serial.print((a.acceleration.z/9.8)*35.303);
  Serial.println(" km/h");
 delay(100);

}