#include <Wire.h>
#include <ESP8266WiFi.h>

// Define WiFi credentials
const char* ssid = "YourWiFiSSID";
const char* password = "YourWiFiPassword";

// Define ESP8266 pins
const int esp8266TxPin = 1; // Connect RP2040 TX to ESP8266 RX
const int esp8266RxPin = 0; // Connect RP2040 RX to ESP8266 TX

// Define MPU6050 address
const int MPU_addr=0x68;

// Define servo pins
const int servoPin1 = 2; // Example pin
const int servoPin2 = 3; // Example pin

WiFiClient client;

void setup() {
  Serial.begin(9600);
  Wire.begin();
  setupWiFi();
  setupServos();
}

void loop() {
  // Read MPU6050 data
  int16_t gyroX, gyroY, gyroZ;
  readMPU6050Data(gyroX, gyroY, gyroZ);

  // Move servo motors based on sensor data
  moveServos(gyroX, gyroY);

  // Send sensor data via WiFi
  if (client.connected()) {
    client.print("GyroX: ");
    client.print(gyroX);
    client.print(" GyroY: ");
    client.println(gyroY);
  }

  delay(1000); // Adjust delay as needed
}

void setupWiFi() {
  Serial.println("Connecting to WiFi...");
  WiFi.begin(ssid, password);
  while (WiFi.status() != WL_CONNECTED) {
    delay(1000);
    Serial.println("Connecting...");
  }
  Serial.println("WiFi connected");
}

void setupServos() {
  // Initialize servo motors
  pinMode(servoPin1, OUTPUT);
  pinMode(servoPin2, OUTPUT);
}

void readMPU6050Data(int16_t& gyroX, int16_t& gyroY, int16_t& gyroZ) {
  Wire.beginTransmission(MPU_addr);
  Wire.write(0x3B);  // starting with register 0x3B (ACCEL_XOUT_H)
  Wire.endTransmission(false);
  Wire.requestFrom(MPU_addr, 14, true); // request a total of 14 registers
  gyroX = Wire.read()<<8|Wire.read();
  gyroY = Wire.read()<<8|Wire.read();
  gyroZ = Wire.read()<<8|Wire.read();
}

void moveServos(int16_t gyroX, int16_t gyroY) {
  // Adjust servo movement based on gyro data
  // Example: map gyroX and gyroY values to servo angles
  int servoAngle1 = map(gyroX, -32768, 32767, 0, 180);
  int servoAngle2 = map(gyroY, -32768, 32767, 0, 180);

  // Move servo motors
  // Example: move servos to calculated angles
  // servo1.write(servoAngle1);
  // servo2.write(servoAngle2);
}