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

// OLED configuration
#define SCREEN_WIDTH 128
#define SCREEN_HEIGHT 64
Adafruit_SSD1306 display(SCREEN_WIDTH, SCREEN_HEIGHT, &Wire, -1);

// Ultrasonic Sensor Pins
const int trigPin = 5;
const int echoPin = 18;
#define SOUND_SPEED 0.034

// MPU6050 configuration
Adafruit_MPU6050 mpu;

long duration;
float distanceCm;

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

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

  // Initialize Ultrasonic Sensor
  pinMode(trigPin, OUTPUT);
  pinMode(echoPin, INPUT);

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

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

  // Read IMU (Gyroscope and Accelerometer Data)
  sensors_event_t accelEvent, gyroEvent;
  mpu.getAccelerometerSensor()->getEvent(&accelEvent);
  mpu.getGyroSensor()->getEvent(&gyroEvent);

  // Display Data on OLED
  display.clearDisplay();
  display.setTextSize(1);
  display.setTextColor(WHITE);

  // Display Ultrasonic Data
  display.setCursor(0, 0);
  display.print("Distance: ");
  display.print(distanceCm);
  display.println(" cm");

  // Display Accelerometer Data
  display.setCursor(0, 15);
  display.print("Acc X: ");
  display.print(accelEvent.acceleration.x);
  display.print(" m/s^2");

  display.setCursor(0, 25);
  display.print("Acc Y: ");
  display.print(accelEvent.acceleration.y);
  display.print(" m/s^2");

  display.setCursor(0, 35);
  display.print("Acc Z: ");
  display.print(accelEvent.acceleration.z);
  display.print(" m/s^2");

  // Display Gyroscope Data
  display.setCursor(0, 45);
  display.print("Gyro X: ");
  display.print(gyroEvent.gyro.x);
  display.print(" rad/s");

  display.setCursor(0, 55);
  display.print("Gyro Y: ");
  display.print(gyroEvent.gyro.y);
  display.print(" rad/s");

  display.display();  // Update OLED display
  delay(500);  // Delay for stability
}