// Bellatrix Gracia - 21/481327/TK/53129 - Teknik Biomedis
// Brahmantio Farhan Rabbani - 21/482806/TK/53375 - Teknik Elektro
// Muhammad Ikhsan Faturrahman Wiguna- 21/480831/TK/53068 - Teknik Elektro
// Sefvia Lie - 21/478184/TK/52695 - Teknik Biomedis

// -------------------------------------------------------------------


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

float AccX, AccY, AccZ;
float speedX, speedY, speedZ;
float distanceX, distanceY, distanceZ;
float previousTime, currentTime, elapsedTime;
float angularVelocityX, angularVelocityY, angularVelocityZ;
float angleRoll, anglePitch, angleYaw;

Adafruit_MPU6050 mpu;

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(100);
}

void loop() {

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

  // percepatan linear dari arah gerak
  AccX = a.acceleration.x;
  AccY = a.acceleration.y;
  AccZ = a.acceleration.z;


  // perpecatan sudut
  angularVelocityX = g.gyro.x;
  angularVelocityY = g.gyro.y;
  angularVelocityZ = g.gyro.z;

  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


  // kecepatan linear GLBB:  v = v + at 
  speedX = speedX + AccX * elapsedTime;
  speedY = speedY + AccY * elapsedTime;
  speedZ = speedZ + AccZ * elapsedTime;

  // perpindahan linear GLBB:  x = x + vt 
  distanceX = distanceX + speedX * elapsedTime;
  distanceY = distanceY + speedY * elapsedTime;

  // sudut Gerak Melingkar Berubah Beraturan: teta = teta + wt
  angleRoll = (angleRoll + angularVelocityX * elapsedTime) * 180/PI;
  anglePitch = (anglePitch + angularVelocityY * elapsedTime) * 180/PI;
  angleYaw = (angleYaw + angularVelocityZ * elapsedTime) * 180/PI;

  /* Print out the values */
  Serial.print("Acceleration X: ");
  Serial.print(AccX);
  Serial.print(", Y: ");
  Serial.print(AccY);
  Serial.print(", Z: ");
  Serial.print(AccZ);
  Serial.println(" m/s^2");

  Serial.print("Velocity X: ");
  Serial.print(speedX);
  Serial.print(", Y: ");
  Serial.print(speedY);
  Serial.println(" m/s");

  Serial.print("Distance X: ");
  Serial.print(distanceX);
  Serial.print(", Y: ");
  Serial.print(distanceY);
  Serial.println(" m/s");

  Serial.print("Angular Velocity X: ");
  Serial.print(angularVelocityX);
  Serial.print(", Y: ");
  Serial.print(angularVelocityY);
  Serial.print(", Z: ");
  Serial.print(angularVelocityZ);
  Serial.println(" rad/s");

  Serial.print("Angle Roll: ");
  Serial.print(angleRoll);
  Serial.print(", Pitch: ");
  Serial.print(anglePitch);
  Serial.print(", Yaw: ");
  Serial.print(angleYaw);
  Serial.println(" theta");

  Serial.print("Wahana : ");
  if(angleRoll == 0)
    Serial.println(" jalan rata");
  else if(angleRoll < 0)
    Serial.println(" miring kiri");
  else if (angleRoll > 0)
    Serial.println(" miring kanan");
  

  Serial.print("Posisi robot : ");
  if(angleYaw == 0)
    Serial.println(" jalan lurus");
  else if(angleYaw < 0)
    Serial.println(" serong kiri");
  else if (angleYaw > 0)
    Serial.println(" serong kanan");


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

  Serial.println("");
  delay(1000);
}