#include <Wire.h>
#include <Adafruit_MPU6050.h>
#include <Adafruit_GFX.h>
#include <Adafruit_SSD1306.h>

#define TRIGGER_PIN 12 // Ubah pin sesuai dengan pin yang tersedia di Wokwi
#define ECHO_PIN 13 // Ubah pin sesuai dengan pin yang tersedia di Wokwi
#define SDA D2
#define SCL D1
#define SCREEN_WIDTH 128 // Lebar layar OLED
#define SCREEN_HEIGHT 64 // Tinggi layar OLED
#define OLED_RESET     -1

// MPU6050
Adafruit_MPU6050 mpu;

// OLED
Adafruit_SSD1306 display(SCREEN_WIDTH, SCREEN_HEIGHT, &Wire, OLED_RESET);

// Servo parameters
const int minPulseWidth = 500;  // Minimum pulse width
const int maxPulseWidth = 2400; // Maximum pulse width
const int servoFrequency = 50;  // Servo frequency
const int servoChannel = 0;      // PWM channel for servo
const int servoResolution = 14;  // PWM resolution for servo

void setup() {
  // Serial
  Serial.begin(115200);

  // MPU6050
  if (!mpu.begin()) {
    Serial.println("Failed to find MPU6050 chip");
    while (1) {
      delay(10);
    }
  }
  mpu.setAccelerometerRange(MPU6050_RANGE_8_G);
  mpu.setGyroRange(MPU6050_RANGE_250_DEG);

  // OLED
  if(!display.begin(SSD1306_SWITCHCAPVCC, 0x3C)) {
    Serial.println(F("SSD1306 allocation failed"));
    for(;;);
  }
  display.display();
  delay(2000);
  display.clearDisplay();
}

float getDistance() {
  digitalWrite(TRIGGER_PIN, LOW);
  delayMicroseconds(2);
  digitalWrite(TRIGGER_PIN, HIGH);
  delayMicroseconds(10);
  digitalWrite(TRIGGER_PIN, LOW);
  unsigned long duration = pulseIn(ECHO_PIN, HIGH);
  float distance = duration * 0.034 / 2;
  return distance;
}

void writeServoMicroseconds(int microseconds) {
  ledcSetup(servoChannel, servoFrequency, servoResolution);
  ledcAttachPin(TRIGGER_PIN, servoChannel);
  ledcWrite(servoChannel, map(microseconds, 0, 180, minPulseWidth, maxPulseWidth));
}

void loop() {
  // MPU6050
  sensors_event_t a, g, temp;
  mpu.getEvent(&a, &g, &temp);
  float ax = a.acceleration.x;
  float ay = a.acceleration.y;
  float az = a.acceleration.z;

  // Ultrasonic
  float distance = getDistance();

  // OLED
  display.clearDisplay();
  display.setTextSize(1);      
  display.setTextColor(SSD1306_WHITE);
  display.setCursor(0,0);     
  display.print("MPU6050:");
  display.setCursor(0,10);
  display.print("  Ax: ");
  display.print(ax);
  display.setCursor(0,20);
  display.print("  Ay: ");
  display.print(ay);
  display.setCursor(0,30);
  display.print("  Az: ");
  display.print(az);
  display.setCursor(0,40);
  display.print("Ultrasonic:");
  display.setCursor(0,50);
  display.print("  Distance: ");
  display.print(distance);
  display.print(" cm");
  display.display();

  // Servo
  int servoAngle = (distance < 200) ? 0 : 180; // Jika jarak di bawah 200 cm, servo terbuka, sebaliknya servo tertutup
  writeServoMicroseconds(servoAngle);

  delay(100);
}