// defines pins numbers
#include <Wire.h>

const int stepPin = 2,dirPin = 3; 
int mer1 = 6,biru = 5,mer2 = 4;

const int MPU = 0x68; // MPU6050 I2C address
float AccX, AccY, AccZ;
float GyroX, GyroY, GyroZ;
float accAngleX, accAngleY, gyroAngleX, gyroAngleY, gyroAngleZ;
float AccErrorX, AccErrorY, GyroErrorX, GyroErrorY, GyroErrorZ;
float elapsedTime, currentTime, previousTime;
int c = 0;
 
void setup() {
  // Sets the two pins as Outputs
  pinMode(stepPin,OUTPUT); pinMode(dirPin,OUTPUT);
  pinMode(mer1,OUTPUT); pinMode(mer2,OUTPUT); pinMode(biru,OUTPUT);
  Serial.begin(19200);
  Wire.begin();                      // Initialize comunication
  Wire.beginTransmission(MPU);       // Start communication with MPU6050 // MPU=0x68
  Wire.write(0x6B);                  // Talk to the register 6B
  Wire.write(0x00);                  // Make reset - place a 0 into the 6B register
  Wire.endTransmission(true);        //end the transmission
 calculate_IMU_error();
  delay(20);
}
void loop() {

Wire.beginTransmission(MPU);
  Wire.write(0x3B); // Start with register 0x3B (ACCEL_XOUT_H)
  Wire.endTransmission(false);
  Wire.requestFrom(MPU, 6, true); // Read 6 registers total, each axis value is stored in 2 registers
  //For a range of +-2g, we need to divide the raw values by 16384, according to the datasheet
  AccX = (Wire.read() << 8 | Wire.read()) / 16384.0; // X-axis value
  AccY = (Wire.read() << 8 | Wire.read()) / 16384.0; // Y-axis value
  AccZ = (Wire.read() << 8 | Wire.read()) / 16384.0; // Z-axis value
  // Calculating Roll and Pitch from the accelerometer data
  accAngleX = (atan(AccY / sqrt(pow(AccX, 2) + pow(AccZ, 2))) * 180 / PI) - 0.58; // AccErrorX ~(0.58) See the calculate_IMU_error()custom function for more details
  accAngleY = (atan(-1 * AccX / sqrt(pow(AccY, 2) + pow(AccZ, 2))) * 180 / PI) + 1.58; // AccErrorY ~(-1.58)
  // === Read gyroscope data === //
  previousTime = currentTime;        // Previous time is stored before the actual time read
  currentTime = millis();            // Current time actual time read
  elapsedTime = (currentTime - previousTime) / 1000; // Divide by 1000 to get seconds
  Wire.beginTransmission(MPU);
  Wire.write(0x43); // Gyro data first register address 0x43
  Wire.endTransmission(false);
  Wire.requestFrom(MPU, 6, true); // Read 4 registers total, each axis value is stored in 2 registers
  GyroX = (Wire.read() << 8 | Wire.read()) / 131.0; // For a 250deg/s range we have to divide first the raw value by 131.0, according to the datasheet
  GyroY = (Wire.read() << 8 | Wire.read()) / 131.0;
  GyroZ = (Wire.read() << 8 | Wire.read()) / 131.0;
  // Correct the outputs with the calculated error values
  GyroX = GyroX + 0.56; // GyroErrorX ~(-0.56)
  GyroY = GyroY - 2; // GyroErrorY ~(2)
  GyroZ = GyroZ + 0.79; // GyroErrorZ ~ (-0.8)
  Serial.print(GyroX);
  Serial.print("/");
  Serial.print(GyroY);
  Serial.print("/");
  Serial.println(GyroZ);

  if(GyroY <= -90){
    kanan();
    digitalWrite(mer1, HIGH);digitalWrite(mer2, LOW);digitalWrite(biru, LOW);
  }
  else if(GyroY >= 90){
    kiri();
    digitalWrite(mer2, HIGH);digitalWrite(mer1, LOW);digitalWrite(biru, LOW);
  }
  else{
    digitalWrite(biru, HIGH);digitalWrite(mer2, LOW);digitalWrite(mer1, LOW);
  }
  
  
}

void kanan(){
digitalWrite(dirPin,HIGH); // Enables the motor to move in a particular direction
  // Makes 200 pulses for making one full cycle rotation
  for(int x = 0; x < 200; x++) {
    digitalWrite(stepPin,HIGH); 
    delayMicroseconds(500); 
    digitalWrite(stepPin,LOW); 
    delayMicroseconds(500); 
  }
  delay(1000); // One second delay
}
void kiri(){
digitalWrite(dirPin,LOW); //Changes the rotations direction
  // Makes 400 pulses for making two full cycle rotation
  for(int x = 0; x < 200; x++) {
    digitalWrite(stepPin,HIGH);
    delayMicroseconds(500);
    digitalWrite(stepPin,LOW);
    delayMicroseconds(500);
  }
  delay(1000);
}

void calculate_IMU_error() {
  while (c < 200) {
    Wire.beginTransmission(MPU);
    Wire.write(0x3B);
    Wire.endTransmission(false);
    Wire.requestFrom(MPU, 6, true);
    AccX = (Wire.read() << 8 | Wire.read()) / 16384.0 ;
    AccY = (Wire.read() << 8 | Wire.read()) / 16384.0 ;
    AccZ = (Wire.read() << 8 | Wire.read()) / 16384.0 ;
    // Sum all readings
    AccErrorX = AccErrorX + ((atan((AccY) / sqrt(pow((AccX), 2) + pow((AccZ), 2))) * 180 / PI));
    AccErrorY = AccErrorY + ((atan(-1 * (AccX) / sqrt(pow((AccY), 2) + pow((AccZ), 2))) * 180 / PI));
    c++;
  }
  //Divide the sum by 200 to get the error value
  AccErrorX = AccErrorX / 200;
  AccErrorY = AccErrorY / 200;
  c = 0;
  // Read gyro values 200 times
  while (c < 200) {
    Wire.beginTransmission(MPU);
    Wire.write(0x43);
    Wire.endTransmission(false);
    Wire.requestFrom(MPU, 6, true);
    GyroX = Wire.read() << 8 | Wire.read();
    GyroY = Wire.read() << 8 | Wire.read();
    GyroZ = Wire.read() << 8 | Wire.read();
    // Sum all readings
    GyroErrorX = GyroErrorX + (GyroX / 131.0);
    GyroErrorY = GyroErrorY + (GyroY / 131.0);
    GyroErrorZ = GyroErrorZ + (GyroZ / 131.0);
    c++;
  }
  //Divide the sum by 200 to get the error value
  GyroErrorX = GyroErrorX / 200;
  GyroErrorY = GyroErrorY / 200;
  GyroErrorZ = GyroErrorZ / 200;
  // Print the error values on the Serial Monitor
  Serial.print("AccErrorX: ");
  Serial.println(AccErrorX);
  Serial.print("AccErrorY: ");
  Serial.println(AccErrorY);
  Serial.print("GyroErrorX: ");
  Serial.println(GyroErrorX);
  Serial.print("GyroErrorY: ");
  Serial.println(GyroErrorY);
  Serial.print("GyroErrorZ: ");
  Serial.println(GyroErrorZ);
}