#include <LiquidCrystal.h>
#include <Adafruit_MPU6050.h>
#define BUZZER 8

#define ACCIDENT_THRESHOLD 10

// Initialize the LCD and MPU6050 objects
LiquidCrystal lcd(12, 11, 5, 4, 3, 2);
Adafruit_MPU6050 mpu;

// Define the variables for storing the accelerometer, gyroscope, and temperature data
float AccX, AccY, AccZ;
float GyroX, GyroY, GyroZ;
float Temp;

// Define the variables for storing the roll, pitch, and yaw angles
float roll, pitch, yaw;

// Define the flag for indicating an accident
bool accident = false;


void setup() {
  
  Serial.begin(9600);
  pinMode(BUZZER, OUTPUT);
  // set up the LCD's number of columns and rows:
  lcd.begin(16, 2);
  lcd.print("Accident Detect");
  lcd.setCursor(0, 1);
  lcd.print("Alert System");
  delay(3000);
  lcd.clear();

  if (!mpu.begin()) {
    Serial.println("Failed to find MPU6050 chip");
    while (1) {
      delay(10);
    }
  }
  Serial.println("MPU6050 Found!");

  // Set the accelerometer and gyroscope range and filter bandwidth
  mpu.setAccelerometerRange(MPU6050_RANGE_8_G);
  mpu.setGyroRange(MPU6050_RANGE_2000_DEG);
  mpu.setFilterBandwidth(MPU6050_BAND_21_HZ);

}

void loop() {
  
  // Read the accelerometer, gyroscope, and temperature data from the sensor
  sensors_event_t a, g, temp;
  mpu.getEvent(&a, &g, &temp);

  // Store the data in the variables
  AccX = a.acceleration.x;
  AccY = a.acceleration.y;
  AccZ = a.acceleration.z;
  GyroX = g.gyro.x;
  GyroY = g.gyro.y;
  GyroZ = g.gyro.z;
  Temp = temp.temperature;

  // Calculate the roll and pitch angles from the accelerometer data
  roll = atan2(AccY, AccZ) * 180 / PI;
  pitch = atan2(-AccX, sqrt(AccY * AccY + AccZ * AccZ)) * 180 / PI;

  // Calculate the yaw angle from the gyroscope data
  yaw = yaw + GyroZ * 0.01; // Assuming a loop time of 10 ms

  // Calculate the magnitude of the acceleration vector
  float accMag = sqrt(AccX * AccX + AccY * AccY + AccZ * AccZ);

  // Check if the acceleration magnitude exceeds the threshold
  if (accMag > ACCIDENT_THRESHOLD) {
    // Set the accident flag to true
    accident = true;
  }

  if(accident){
  	digitalWrite(BUZZER,HIGH);
    lcd.clear();
    lcd.print("Accident Detected");
    lcd.setCursor(0, 1);
    lcd.print("Be Careful!");
    delay(4000);
    digitalWrite(BUZZER,LOW);
    accident = false;

  }
  lcd.clear();
 
}