// Basic demo for accelerometer readings from Adafruit MPU6050

#include <Adafruit_MPU6050.h>
#include <Adafruit_Sensor.h>
#include <Wire.h>
#include <Servo.h>
#include <LiquidCrystal_I2C.h>


Adafruit_MPU6050 mpu;

//Joystick sol pinleri
#define VERT_PIN A0
#define HORZ_PIN A1
#define SEL_PIN  2

//LCD pinleri ve özellikleri
#define I2C_ADDR    0x27
#define LCD_COLUMNS 20
#define LCD_LINES   4
LiquidCrystal_I2C lcd(I2C_ADDR, LCD_COLUMNS, LCD_LINES);

unsigned long previousMillis;
const unsigned long interval = 10;   // 10 or 20 milliseconds are common values

Servo servo1;
Servo servo2;
Servo servo3;
Servo servo4;
Servo servo5;

int count700ms = 0;    // count to 700ms for first servo motor
float r = 0.0;         // the angle for the sinus in radian for second servo motor



void setup(void) {
  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_2000_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(3000);
  servo1.attach(8);
  servo2.attach(7);
  servo3.attach(6);
  servo4.attach(5);
  servo5.attach(4);
  Serial.println("Servolar bağlandı");
  delay(1000);

  lcd.init();
  lcd.backlight();

  // Print something
  lcd.setCursor(3, 0);
  lcd.print("Merhaba!");
  lcd.setCursor(2, 1);
  lcd.print("Uçuş Bilgisayarı");
  lcd.setCursor(5, 2);
  lcd.print("Hazırlanıyor...");
  lcd.setCursor(7, 3);
  lcd.print("Hazır!");
}

void loop() {

  /* Get new sensor events with the readings */
  sensors_event_t a, g, temp;
  mpu.getEvent(&a, &g, &temp);
  lcd.setCursor(0,0);
  lcd.print("ACC:X=");
  lcd.setCursor(0,6);
  lcd.print(a.acceleration.x);

  /* 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("");
  delay(1);
//Servo potansiyometre ile konum kontrolü
  int potentiometer = analogRead( A1);
  int angle3 = map( potentiometer, 0, 1023, 0, 180);
  servo1.write( angle3);
  servo2.write( angle3);
  servo3.write( angle3);
  servo4.write( angle3);
  servo5.write( angle3);
}