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

//OLED//
#include <Wire.h>
#include <Adafruit_GFX.h>
#include <Adafruit_SSD1306.h>
#define SCREEN_WIDTH 128 // OLED display width, in pixels
#define SCREEN_HEIGHT 64 // OLED display height, in pixels

//servo//
#include <ESP32Servo.h>
const int servoPin = 14;
Servo servo;
const int servoPin2 = 27;
Servo servo2;

//Ultrasonic Sensor//
const int trigPin = 12;
const int echoPin = 13;
#define DISTANCE_THRESHOLD  200

//define sound speed in cm/uS
#define SOUND_SPEED 0.034
#define CM_TO_INCH 0.393701

long duration;
float distanceCm;
float distanceInch;
int kemiringan;

// Declaration for an SSD1306 display connected to I2C (SDA, SCL pins)
Adafruit_SSD1306 display(SCREEN_WIDTH, SCREEN_HEIGHT, &Wire, -1);

Adafruit_MPU6050 mpu;

void setup() {
  Serial.begin(115200); // Starts the serial communication
  //Ultrasonic sensor//
  pinMode(trigPin, OUTPUT); // Sets the trigPin as an Output
  pinMode(echoPin, INPUT); // Sets the echoPin as an Input
  servo.attach(servoPin);
  servo2.attach(servoPin2);
  //OLED//
  if(!display.begin(SSD1306_SWITCHCAPVCC, 0x3C)) {
    Serial.println(F("SSD1306 allocation failed"));
    for(;;);
  }
  display.clearDisplay();
  display.setTextSize(1);
  display.setTextColor(WHITE);

  //IMU//
  while (!mpu.begin()) {
    Serial.println("MPU6050 not connected!");
  }
  Serial.println("MPU6050 ready!");
}

//IMU//
sensors_event_t event;

void loop() {
  //Ultrasonic sensor//
  // Clears the trigPin
  digitalWrite(trigPin, LOW);
  delayMicroseconds(2);
  // Sets the trigPin on HIGH state for 10 micro seconds
  digitalWrite(trigPin, HIGH);
  delayMicroseconds(10);
  digitalWrite(trigPin, LOW);
  // Reads the echoPin, returns the sound wave travel time in microseconds
  duration = pulseIn(echoPin, HIGH);
  // Calculate the distance
  distanceCm = duration * SOUND_SPEED/2;
  // Convert to inches
  distanceInch = distanceCm * CM_TO_INCH;
  // Prints the distance in the Serial Monitor
  Serial.print("Jarak(cm): ");
  Serial.println(distanceCm);
  Serial.print("Jarak(inch): ");
  Serial.println(distanceInch);

  //IMU//
  mpu.getAccelerometerSensor()->getEvent(&event);
  Serial.print("[");
  Serial.print(millis());
  Serial.print("] X: ");
  Serial.print(event.acceleration.x);
  Serial.print(", Y: ");
  Serial.print(event.acceleration.y);
  Serial.print(", Z: ");
  Serial.print(event.acceleration.z);
  Serial.println(" m/s^2");

//OLED//
  display.clearDisplay();
  display.setCursor(0, 0);
  display.print("Jarak(cm): ");
  display.println(distanceCm);
  display.print("\n");
  display.print("[");
  display.print(millis());
  display.println("]");
  display.print("\n");
  display.print("X: ");
  display.println(event.acceleration.x);
  display.print("Y: ");
  display.println(event.acceleration.y);
  display.print("Z: ");
  display.print(event.acceleration.z);
  display.println(" m/s^2");
  display.display();

  //servo//
  kemiringan = event.acceleration.x * 10;
  servo.write(kemiringan);
  delay(100);

  if (distanceCm < DISTANCE_THRESHOLD)
    servo2.write(90); // rotate servo motor to 90 degree
  else
    servo2.write(0);
  delay(100);
}