#include <Adafruit_MPU6050.h>
#include <Adafruit_Sensor.h>
#include <Wire.h>
#include <nRF24L01.h>
#include <RF24.h>
Adafruit_MPU6050 mpu;
RF24 radio {4, 5};
int calibrate_pin = 34;
int en = 0;
float xcal,ycal,zcal;
float xval,yval,zval;
String message;
void setup(void) {
  Serial.begin(115200);
  radio.begin();
  radio.setChannel(5);
  radio.setDataRate(RF24_1MBPS);
  radio.setPALevel(RF24_PA_HIGH);
  radio.openWritingPipe(0x1234567890LL);
  pinMode(calibrate_pin, INPUT);
  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_5_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);
  if(digitalRead(calibrate_pin) == 1 and en == 0){
    en = 1;
    xcal = g.gyro.x;
    ycal = g.gyro.y;
    zcal = g.gyro.z;
  }else if(digitalRead(calibrate_pin) == 0 and en == 1){
    en = 0;
  }
  xval = g.gyro.x - xcal;
  yval = g.gyro.y - ycal;
  zval = g.gyro.z - zcal;
  if (yval >= -2 and yval <= 2 and xval >= -2 and xval <= 2){
    //back
    message = "S";
    radio.write(&message, sizeof(message));
  }else if (xval >= 3){
    //Right
    message = "R";
    radio.write(&message, sizeof(message));
  }else if (xval <= -3){
    //Left
    message = "L";
    radio.write(&message, sizeof(message));
  }else if (yval >= 3){
    //forward
    message = "F";
    radio.write(&message, sizeof(message));
  }else if (yval <= -3){
    //back
    message = "B";
    radio.write(&message, sizeof(message));
  }
  /* 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(xval);
  Serial.print(", Y: ");
  Serial.print(yval);
  Serial.print(", Z: ");
  Serial.print(zval);
  Serial.println(" rad/s");
  Serial.print("message:");
  Serial.println(message);
  // Serial.print("Temperature: ");
  // Serial.print(temp.temperature);
  // Serial.println(" degC");

  Serial.println("");
  delay(100);



}