from machine import Pin, I2C
import ssd1306, gfx, time, math
from lucsmpulib import init_mpu, get_data


# ESP32 Pin assignment 
i2c = I2C(0, scl=Pin(22), sda=Pin(21))

oled_width = 128
oled_height = 64
oled = ssd1306.SSD1306_I2C(oled_width, oled_height, i2c)

init_mpu(i2c)

graphics = gfx.GFX(128, 64, oled.pixel)

led_center = Pin(27, Pin.OUT)
led_notcenter = Pin(14, Pin.OUT)

'''
# oled.text('Hello, Wokwi!', 10, 10)      
oled.fill(0)
# base graphics (same for each drawing cycle)
oled.text('4.1 V', 0, 0, 1) # replace with ADS1115 derived battery voltage
graphics.circle(64, 32, 5, 1)
graphics.circle(64, 32, 15, 1)
graphics.circle(64, 32, 25, 1)
graphics.circle(64, 32, 35, 1)

# bubble ball is a filled circle
graphics.fill_circle(60, 18, 3, 1)
oled.show()
'''

while True:
    readx, ready, readz = get_data(i2c)

    x = math.atan2(ready, math.sqrt(readx * readx + readz * readz)) * 180 / math.pi
    y = math.atan2(-readx, math.sqrt(ready * ready + readz * readz)) * 180 / math.pi
    z = math.atan2(readz, math.sqrt(readx * readx + ready * ready)) * 180 / math.pi
    
    print("=======================================================")
    
    if (x <= 0):
        x = math.floor(x)
    else:
        x = math.ceil(x)
    if (y <= 0):
        y = math.floor(y)
    else:
        y = math.ceil(y)
    print("x = ", x)
    print("y = ", y)

    center_x = x + 64
    center_y = y + 32

    led_x = abs(x)
    led_y =abs(y)

    if led_x <= 3 and led_y <= 3:
        led_center.on()
        led_notcenter.off()
    else:
        led_center.off()
        led_notcenter.on()


    oled.fill(0)
# base graphics (same for each drawing cycle)
    oled.text('4.1 V', 0, 0, 1) # replace with ADS1115 derived battery voltage
    oled.text('X:', 0, 40)
    oled.text('Y:', 100, 40)
    oled.text(str(x), 0, 50)
    oled.text(str(y), 100, 50)
    graphics.circle(64, 32, 5, 1)
    graphics.circle(64, 32, 15, 1)
    graphics.circle(64, 32, 25, 1)
    graphics.circle(64, 32, 35, 1)

# bubble ball is a filled circle
    graphics.fill_circle(center_x, center_y, 4, 1)
    oled.show()

    time.sleep(2)

main.py

diagram.json

#MicroPython SSD1306 OLED driver, I2C and SPI interfaces created by Adafruit

import time
import framebuf

# register definitions
SET_CONTRAST        = const(0x81)
SET_ENTIRE_ON       = const(0xa4)
SET_NORM_INV        = const(0xa6)
SET_DISP            = const(0xae)
SET_MEM_ADDR        = const(0x20)
SET_COL_ADDR        = const(0x21)
SET_PAGE_ADDR       = const(0x22)
SET_DISP_START_LINE = const(0x40)
SET_SEG_REMAP       = const(0xa0)
SET_MUX_RATIO       = const(0xa8)
SET_COM_OUT_DIR     = const(0xc0)
SET_DISP_OFFSET     = const(0xd3)
SET_COM_PIN_CFG     = const(0xda)
SET_DISP_CLK_DIV    = const(0xd5)
SET_PRECHARGE       = const(0xd9)
SET_VCOM_DESEL      = const(0xdb)
SET_CHARGE_PUMP     = const(0x8d)


class SSD1306:
    def __init__(self, width, height, external_vcc):
        self.width = width
        self.height = height
        self.external_vcc = external_vcc
        self.pages = self.height // 8
        # Note the subclass must initialize self.framebuf to a framebuffer.
        # This is necessary because the underlying data buffer is different
        # between I2C and SPI implementations (I2C needs an extra byte).
        self.poweron()
        self.init_display()

    def init_display(self):
        for cmd in (
            SET_DISP | 0x00, # off
            # address setting
            SET_MEM_ADDR, 0x00, # horizontal
            # resolution and layout
            SET_DISP_START_LINE | 0x00,
            SET_SEG_REMAP | 0x01, # column addr 127 mapped to SEG0
            SET_MUX_RATIO, self.height - 1,
            SET_COM_OUT_DIR | 0x08, # scan from COM[N] to COM0
            SET_DISP_OFFSET, 0x00,
            SET_COM_PIN_CFG, 0x02 if self.height == 32 else 0x12,
            # timing and driving scheme
            SET_DISP_CLK_DIV, 0x80,
            SET_PRECHARGE, 0x22 if self.external_vcc else 0xf1,
            SET_VCOM_DESEL, 0x30, # 0.83*Vcc
            # display
            SET_CONTRAST, 0xff, # maximum
            SET_ENTIRE_ON, # output follows RAM contents
            SET_NORM_INV, # not inverted
            # charge pump
            SET_CHARGE_PUMP, 0x10 if self.external_vcc else 0x14,
            SET_DISP | 0x01): # on
            self.write_cmd(cmd)
        self.fill(0)
        self.show()

    def poweroff(self):
        self.write_cmd(SET_DISP | 0x00)

    def contrast(self, contrast):
        self.write_cmd(SET_CONTRAST)
        self.write_cmd(contrast)

    def invert(self, invert):
        self.write_cmd(SET_NORM_INV | (invert & 1))

    def show(self):
        x0 = 0
        x1 = self.width - 1
        if self.width == 64:
            # displays with width of 64 pixels are shifted by 32
            x0 += 32
            x1 += 32
        self.write_cmd(SET_COL_ADDR)
        self.write_cmd(x0)
        self.write_cmd(x1)
        self.write_cmd(SET_PAGE_ADDR)
        self.write_cmd(0)
        self.write_cmd(self.pages - 1)
        self.write_framebuf()

    def fill(self, col):
        self.framebuf.fill(col)

    def pixel(self, x, y, col):
        self.framebuf.pixel(x, y, col)

    def scroll(self, dx, dy):
        self.framebuf.scroll(dx, dy)

    def text(self, string, x, y, col=1):
        self.framebuf.text(string, x, y, col)


class SSD1306_I2C(SSD1306):
    def __init__(self, width, height, i2c, addr=0x3c, external_vcc=False):
        self.i2c = i2c
        self.addr = addr
        self.temp = bytearray(2)
        # Add an extra byte to the data buffer to hold an I2C data/command byte
        # to use hardware-compatible I2C transactions.  A memoryview of the
        # buffer is used to mask this byte from the framebuffer operations
        # (without a major memory hit as memoryview doesn't copy to a separate
        # buffer).
        self.buffer = bytearray(((height // 8) * width) + 1)
        self.buffer[0] = 0x40  # Set first byte of data buffer to Co=0, D/C=1
        self.framebuf = framebuf.FrameBuffer1(memoryview(self.buffer)[1:], width, height)
        super().__init__(width, height, external_vcc)

    def write_cmd(self, cmd):
        self.temp[0] = 0x80 # Co=1, D/C#=0
        self.temp[1] = cmd
        self.i2c.writeto(self.addr, self.temp)

    def write_framebuf(self):
        # Blast out the frame buffer using a single I2C transaction to support
        # hardware I2C interfaces.
        self.i2c.writeto(self.addr, self.buffer)

    def poweron(self):
        pass


class SSD1306_SPI(SSD1306):
    def __init__(self, width, height, spi, dc, res, cs, external_vcc=False):
        self.rate = 10 * 1024 * 1024
        dc.init(dc.OUT, value=0)
        res.init(res.OUT, value=0)
        cs.init(cs.OUT, value=1)
        self.spi = spi
        self.dc = dc
        self.res = res
        self.cs = cs
        self.buffer = bytearray((height // 8) * width)
        self.framebuf = framebuf.FrameBuffer1(self.buffer, width, height)
        super().__init__(width, height, external_vcc)

    def write_cmd(self, cmd):
        self.spi.init(baudrate=self.rate, polarity=0, phase=0)
        self.cs.high()
        self.dc.low()
        self.cs.low()
        self.spi.write(bytearray([cmd]))
        self.cs.high()

    def write_framebuf(self):
        self.spi.init(baudrate=self.rate, polarity=0, phase=0)
        self.cs.high()
        self.dc.high()
        self.cs.low()
        self.spi.write(self.buffer)
        self.cs.high()

    def poweron(self):
        self.res.high()
        time.sleep_ms(1)
        self.res.low()
        time.sleep_ms(10)
        self.res.high()


ssd1306.py

# Port of Adafruit GFX Arduino library to MicroPython.
# Based on: https://github.com/adafruit/Adafruit-GFX-Library
# Author: Tony DiCola (original GFX author Phil Burgess)
# License: MIT License (https://opensource.org/licenses/MIT)


class GFX:

    def __init__(self, width, height, pixel, hline=None, vline=None):
        # Create an instance of the GFX drawing class.  You must pass in the
        # following parameters:
        #  - width = The width of the drawing area in pixels.
        #  - height = The height of the drawing area in pixels.
        #  - pixel = A function to call when a pixel is drawn on the display.
        #            This function should take at least an x and y position
        #            and then any number of optional color or other parameters.
        #  You can also provide the following optional keyword argument to
        #  improve the performance of drawing:
        #  - hline = A function to quickly draw a horizontal line on the display.
        #            This should take at least an x, y, and width parameter and
        #            any number of optional color or other parameters.
        #  - vline = A function to quickly draw a vertical line on the display.
        #            This should take at least an x, y, and height paraemter and
        #            any number of optional color or other parameters.
        self.width = width
        self.height = height
        self._pixel = pixel
        # Default to slow horizontal & vertical line implementations if no
        # faster versions are provided.
        if hline is None:
            self.hline = self._slow_hline
        else:
            self.hline = hline
        if vline is None:
            self.vline = self._slow_vline
        else:
            self.vline = vline

    def _slow_hline(self, x0, y0, width, *args, **kwargs):
        # Slow implementation of a horizontal line using pixel drawing.
        # This is used as the default horizontal line if no faster override
        # is provided.
        if y0 < 0 or y0 > self.height or x0 < -width or x0 > self.width:
            return
        for i in range(width):
            self._pixel(x0+i, y0, *args, **kwargs)

    def _slow_vline(self, x0, y0, height, *args, **kwargs):
        # Slow implementation of a vertical line using pixel drawing.
        # This is used as the default vertical line if no faster override
        # is provided.
        if y0 < -height or y0 > self.height or x0 < 0 or x0 > self.width:
            return
        for i in range(height):
            self._pixel(x0, y0+i, *args, **kwargs)

    def rect(self, x0, y0, width, height, *args, **kwargs):
        # Rectangle drawing function.  Will draw a single pixel wide rectangle
        # starting in the upper left x0, y0 position and width, height pixels in
        # size.
        if y0 < -height or y0 > self.height or x0 < -width or x0 > self.width:
            return
        self.hline(x0, y0, width, *args, **kwargs)
        self.hline(x0, y0+height-1, width, *args, **kwargs)
        self.vline(x0, y0, height, *args, **kwargs)
        self.vline(x0+width-1, y0, height, *args, **kwargs)

    def fill_rect(self, x0, y0, width, height, *args, **kwargs):
        # Filled rectangle drawing function.  Will draw a single pixel wide
        # rectangle starting in the upper left x0, y0 position and width, height
        # pixels in size.
        if y0 < -height or y0 > self.height or x0 < -width or x0 > self.width:
            return
        for i in range(x0, x0+width):
            self.vline(i, y0, height, *args, **kwargs)

    def line(self, x0, y0, x1, y1, *args, **kwargs):
        # Line drawing function.  Will draw a single pixel wide line starting at
        # x0, y0 and ending at x1, y1.
        steep = abs(y1 - y0) > abs(x1 - x0)
        if steep:
            x0, y0 = y0, x0
            x1, y1 = y1, x1
        if x0 > x1:
            x0, x1 = x1, x0
            y0, y1 = y1, y0
        dx = x1 - x0
        dy = abs(y1 - y0)
        err = dx // 2
        ystep = 0
        if y0 < y1:
            ystep = 1
        else:
            ystep = -1
        while x0 <= x1:
            if steep:
                self._pixel(y0, x0, *args, **kwargs)
            else:
                self._pixel(x0, y0, *args, **kwargs)
            err -= dy
            if err < 0:
                y0 += ystep
                err += dx
            x0 += 1

    def circle(self, x0, y0, radius, *args, **kwargs):
        # Circle drawing function.  Will draw a single pixel wide circle with
        # center at x0, y0 and the specified radius.
        f = 1 - radius
        ddF_x = 1
        ddF_y = -2 * radius
        x = 0
        y = radius
        self._pixel(x0, y0 + radius, *args, **kwargs)
        self._pixel(x0, y0 - radius, *args, **kwargs)
        self._pixel(x0 + radius, y0, *args, **kwargs)
        self._pixel(x0 - radius, y0, *args, **kwargs)
        while x < y:
            if f >= 0:
                y -= 1
                ddF_y += 2
                f += ddF_y
            x += 1
            ddF_x += 2
            f += ddF_x
            self._pixel(x0 + x, y0 + y, *args, **kwargs)
            self._pixel(x0 - x, y0 + y, *args, **kwargs)
            self._pixel(x0 + x, y0 - y, *args, **kwargs)
            self._pixel(x0 - x, y0 - y, *args, **kwargs)
            self._pixel(x0 + y, y0 + x, *args, **kwargs)
            self._pixel(x0 - y, y0 + x, *args, **kwargs)
            self._pixel(x0 + y, y0 - x, *args, **kwargs)
            self._pixel(x0 - y, y0 - x, *args, **kwargs)

    def fill_circle(self, x0, y0, radius, *args, **kwargs):
        # Filled circle drawing function.  Will draw a filled circule with
        # center at x0, y0 and the specified radius.
        self.vline(x0, y0 - radius, 2*radius + 1, *args, **kwargs)
        f = 1 - radius
        ddF_x = 1
        ddF_y = -2 * radius
        x = 0
        y = radius
        while x < y:
            if f >= 0:
                y -= 1
                ddF_y += 2
                f += ddF_y
            x += 1
            ddF_x += 2
            f += ddF_x
            self.vline(x0 + x, y0 - y, 2*y + 1, *args, **kwargs)
            self.vline(x0 + y, y0 - x, 2*x + 1, *args, **kwargs)
            self.vline(x0 - x, y0 - y, 2*y + 1, *args, **kwargs)
            self.vline(x0 - y, y0 - x, 2*x + 1, *args, **kwargs)

    def triangle(self, x0, y0, x1, y1, x2, y2, *args, **kwargs):
        # Triangle drawing function.  Will draw a single pixel wide triangle
        # around the points (x0, y0), (x1, y1), and (x2, y2).
        self.line(x0, y0, x1, y1, *args, **kwargs)
        self.line(x1, y1, x2, y2, *args, **kwargs)
        self.line(x2, y2, x0, y0, *args, **kwargs)

    def fill_triangle(self, x0, y0, x1, y1, x2, y2, *args, **kwargs):
        # Filled triangle drawing function.  Will draw a filled triangle around
        # the points (x0, y0), (x1, y1), and (x2, y2).
        if y0 > y1:
            y0, y1 = y1, y0
            x0, x1 = x1, x0
        if y1 > y2:
            y2, y1 = y1, y2
            x2, x1 = x1, x2
        if y0 > y1:
            y0, y1 = y1, y0
            x0, x1 = x1, x0
        a = 0
        b = 0
        y = 0
        last = 0
        if y0 == y2:
            a = x0
            b = x0
            if x1 < a:
                a = x1
            elif x1 > b:
                b = x1
            if x2 < a:
                a = x2
            elif x2 > b:
                b = x2
            self.hline(a, y0, b-a+1, *args, **kwargs)
            return
        dx01 = x1 - x0
        dy01 = y1 - y0
        dx02 = x2 - x0
        dy02 = y2 - y0
        dx12 = x2 - x1
        dy12 = y2 - y1
        if dy01 == 0:
            dy01 = 1
        if dy02 == 0:
            dy02 = 1
        if dy12 == 0:
            dy12 = 1
        sa = 0
        sb = 0
        if y1 == y2:
            last = y1
        else:
            last = y1-1
        for y in range(y0, last+1):
            a = x0 + sa // dy01
            b = x0 + sb // dy02
            sa += dx01
            sb += dx02
            if a > b:
                a, b = b, a
            self.hline(a, y, b-a+1, *args, **kwargs)
        sa = dx12 * (y - y1)
        sb = dx02 * (y - y0)
        while y <= y2:
            a = x1 + sa // dy12
            b = x0 + sb // dy02
            sa += dx12
            sb += dx02
            if a > b:
                a, b = b, a
            self.hline(a, y, b-a+1, *args, **kwargs)
            y += 1


gfx.py

'''
Luc Volders library for MPU6050
'''

from machine import Pin, I2C
import time
 
def init_mpu(i2c, address=0x68):
    i2c.writeto_mem(address, 0x6B, b'\x00')
    time.sleep_ms(100)
    i2c.writeto_mem(address, 0x19, b'\x07')
    i2c.writeto_mem(address, 0x1B, b'\x00')
    i2c.writeto_mem(address, 0x1B, b'\x00')
    i2c.writeto_mem(address, 0x1C, b'\x00')
 
def read_data(i2c, addr, address=0x68):
    high = i2c.readfrom_mem(address, addr, 1)[0]
    low = i2c.readfrom_mem(address, addr + 1, 1)[0]
    value = high << 8 | low
    if value > 32768:
        value = value - 65536
    return value
 
def get_data(i2c):
    readx = read_data(i2c, 0x3B) / 16384.0
    ready = read_data(i2c, 0x3B + 2) / 16384.0
    readz = read_data(i2c, 0x3B + 4) / 16384.0
    
    return readx, ready, readz