// Include necessary libraries for OLED, MPU6050, and I2C communication
#include <Wire.h>
#include <Adafruit_GFX.h>
#include <Adafruit_SSD1306.h>
#include <Adafruit_MPU6050.h>
#include <Adafruit_Sensor.h>

// Define OLED screen dimensions
#define SCREEN_WIDTH 128
#define SCREEN_HEIGHT 64

// Create OLED display object connected to I2C
Adafruit_SSD1306 oled(SCREEN_WIDTH, SCREEN_HEIGHT, &Wire, -1);
// Create MPU6050 object for sensor operations
Adafruit_MPU6050 mpu;

void setup(void) {
  // Start serial communication at 9600 baud rate
  Serial.begin(9600);

  // Initialize the OLED display
  if (!oled.begin(SSD1306_SWITCHCAPVCC, 0x3C)) {
    // Print error message if OLED initialization fails
    Serial.println(F("failed to start SSD1306 OLED"));
    // Infinite loop to halt execution
    while (1);
  }
  // Clear any previous content on the OLED display
  oled.clearDisplay();
  // Set text size for OLED display
  oled.setTextSize(1);
  // Set text color for OLED display
  oled.setTextColor(WHITE);

  // Initialize the MPU6050 sensor
  if (!mpu.begin()) {
    // Print error message if MPU6050 initialization fails
    Serial.println("Failed to find MPU6050 chip");
    // Infinite loop to halt execution
    while (1) {
      delay(10);
    }
  }
  // Set accelerometer range to 8G
  mpu.setAccelerometerRange(MPU6050_RANGE_8_G);
  // Set gyroscope range to 250 degrees per second
  mpu.setGyroRange(MPU6050_RANGE_250_DEG);
  // Set filter bandwidth to 21Hz
  mpu.setFilterBandwidth(MPU6050_BAND_21_HZ);
  // Wait for 1 second before starting the main loop
  delay(1000);
}

void loop() {
  // Create sensor event objects for accelerometer, gyroscope, and temperature
  sensors_event_t a, g, temp;
  // Get sensor readings
  mpu.getEvent(&a, &g, &temp);

  // Clear the OLED display for fresh data
  oled.clearDisplay();
  // Set cursor position and print accelerometer data label
  oled.setCursor(0, 0);
  oled.println("Accelerometer:");
  oled.setCursor(0, 10);
  oled.print(a.acceleration.x/10, 2);
  oled.print(",");
  oled.print(a.acceleration.y/10, 2);
  oled.print(",");
  oled.println(a.acceleration.z/10, 2);

  // Set cursor position and print gyroscope data label
  oled.setCursor(0, 30);
  oled.println("Gyroscope:");
  oled.setCursor(0, 40);
  oled.print(g.gyro.x/10, 2);
  oled.print(",");
  oled.print(g.gyro.y/10, 2);
  oled.print(",");
  oled.println(g.gyro.z/10, 2);

  // Update the OLED display with new data
  oled.display();
  // Wait for 0.5 seconds before the next loop iteration
  delay(500);
}