#include <Wire.h>
#include <Adafruit_GFX.h>
#include <Adafruit_SSD1306.h>
#include <Adafruit_MPU6050.h>
#include <Adafruit_Sensor.h>
#include <ESP32Servo.h>

#define SCREEN_WIDTH 128
#define SCREEN_HEIGHT 64
Adafruit_SSD1306 display(SCREEN_WIDTH, SCREEN_HEIGHT, &Wire, -1);
const int trigPin = 5;
const int echoPin = 18;

#define SOUND_SPEED 0.034
#define CM_TO_INCH 0.393701

long duration;
float distanceCm;
float distanceInch;

Adafruit_MPU6050 mpu;
Servo servo_motor;
const int servoPin = 13;

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

  pinMode(trigPin, OUTPUT);
  pinMode(echoPin, INPUT);

  servo_motor.attach(servoPin);

  if (!display.begin(SSD1306_SWITCHCAPVCC, 0x3C)) {
    Serial.println(F("SSD1306 allocation failed"));
    for (;;);
  }
  delay(500);
  display.clearDisplay();
  display.setTextSize(1);
  display.setTextColor(WHITE);

  while (!mpu.begin()) {
    Serial.println("MPU6050 not connected!");
    delay(1000);
  }
  Serial.println("MPU6050 ready!");
}

sensors_event_t accel_event, gyro_event, temp_event;

void loop() {
  digitalWrite(trigPin, LOW);
  delayMicroseconds(2);
  digitalWrite(trigPin, HIGH);
  delayMicroseconds(10);
  digitalWrite(trigPin, LOW);
  duration = pulseIn(echoPin, HIGH);
  distanceCm = duration * SOUND_SPEED / 2;
  distanceInch = distanceCm * CM_TO_INCH;

  Serial.print("Distance (cm): ");
  Serial.println(distanceCm);
  Serial.print("Distance (inch): ");
  Serial.println(distanceInch);

  display.clearDisplay();
  display.setCursor(0, 0);
  display.print("Distance (cm): ");
  display.println(distanceCm);
  
  mpu.getAccelerometerSensor()->getEvent(&accel_event);
  mpu.getGyroSensor()->getEvent(&gyro_event);
  mpu.getTemperatureSensor()->getEvent(&temp_event);

  Serial.print("[");
  Serial.print(millis());
  Serial.print("] Accelerometer - X: ");
  Serial.print(accel_event.acceleration.x / 10);
  Serial.print(", Y: ");
  Serial.print(accel_event.acceleration.y / 10);
  Serial.print(", Z: ");
  Serial.print(accel_event.acceleration.z / 10);
  Serial.println(" g");

  Serial.print("[");
  Serial.print(millis());
  Serial.print("] Gyroscope - X: ");
  Serial.print(gyro_event.gyro.x * 180 / PI);
  Serial.print(", Y: ");
  Serial.print(gyro_event.gyro.y * 180 / PI);
  Serial.print(", Z: ");
  Serial.print(gyro_event.gyro.z * 180 / PI);
  Serial.println(" °/s");

  if (distanceCm <= 20) {
    display.println("Ada hambatan, berhenti");
  }

  display.display();

  int servo_angle = map(gyro_event.gyro.x * 180 / PI, -180, 180, 0, 180);
  if (servo_angle < 90) {
    servo_motor.write(0);
  } else {
    servo_motor.write(180);
  }

  delay(1000);
}