#include <DHT.h>
#include <Wire.h>
#include <Adafruit_MPU6050.h>
#include <Adafruit_Sensor.h>

// Definisikan pin
#define DHT_PIN 2
#define TOUCH_PIN 4
#define IR_PIN 5
#define BUTTON_PIN 18
#define LED_PIN 13
#define BUZZER_PIN 15
#define MOTOR_PIN 14
#define HEART_SENSOR_PIN 32
#define RELAY_PIN 12

// Inisialisasi sensor dan aktor
DHT dht(DHT_PIN, DHT22);
Adafruit_MPU6050 mpu;

// Variabel
float temperature;
float humidity;
bool wheelchair_active = false;

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

  // Inisialisasi sensor dan aktuator
  dht.begin();
  if (!mpu.begin()) {
    Serial.println("Failed to initialize MPU6050!");
    while (1);
  }

  pinMode(TOUCH_PIN, INPUT);
  pinMode(IR_PIN, INPUT);
  pinMode(BUTTON_PIN, INPUT_PULLUP);
  pinMode(HEART_SENSOR_PIN, INPUT);
  pinMode(LED_PIN, OUTPUT);
  pinMode(BUZZER_PIN, OUTPUT);
  pinMode(MOTOR_PIN, OUTPUT);
  pinMode(RELAY_PIN, OUTPUT);

  Serial.println("Smart Wheelchair System Initialized!");
}

void loop() {
  // 1. Baca sensor DHT22
  temperature = dht.readTemperature();
  humidity = dht.readHumidity();
  if (isnan(temperature) || isnan(humidity)) {
    Serial.println("Failed to read from DHT sensor!");
    return;
  }

  // Tampilkan hasil sensor suhu dan kelembapan
  Serial.print("Temperature: ");
  Serial.print(temperature);
  Serial.print(" C, Humidity: ");
  Serial.print(humidity);
  Serial.println(" %");

  // 2. Cek Touch Sensor untuk mengaktifkan/mematikan kursi roda
  if (digitalRead(TOUCH_PIN) == HIGH) {
    wheelchair_active = !wheelchair_active;
    digitalWrite(MOTOR_PIN, wheelchair_active ? HIGH : LOW);
    Serial.println(wheelchair_active ? "Wheelchair Activated" : "Wheelchair Deactivated");
    delay(500);
  }

  // 3. Cek sensor MPU6050 untuk mendeteksi kemiringan
  sensors_event_t a, g, temp;
  mpu.getEvent(&a, &g, &temp);
  if (abs(a.acceleration.y) > 9.0) { // Threshold untuk kemiringan
    digitalWrite(MOTOR_PIN, LOW);  // Matikan motor
    Serial.println("Warning: Tilt Detected! Motor Stopped.");
    digitalWrite(BUZZER_PIN, HIGH);
    delay(1000);
    digitalWrite(BUZZER_PIN, LOW);
  }

  // 4. Cek Infrared Proximity Sensor untuk halangan
  if (digitalRead(IR_PIN) == HIGH) {
    digitalWrite(MOTOR_PIN, LOW); // Matikan motor
    Serial.println("Obstacle Detected! Motor Stopped.");
    digitalWrite(BUZZER_PIN, HIGH);
    delay(1000);
    digitalWrite(BUZZER_PIN, LOW);
  }

  // 5. Cek Sensor Detak Jantung (simulasi sederhana)
  int heartRate = analogRead(HEART_SENSOR_PIN);
  Serial.print("Heart Rate Sensor Value: ");
  Serial.println(heartRate);
  if (heartRate < 300 || heartRate > 700) { // Nilai threshold
    Serial.println("Warning: Abnormal Heart Rate Detected!");
    digitalWrite(LED_PIN, HIGH);   // Indikasi masalah pada LED
    digitalWrite(BUZZER_PIN, HIGH);
    delay(1000);
    digitalWrite(LED_PIN, LOW);
    digitalWrite(BUZZER_PIN, LOW);
  }

  // 6. Cek tombol (pengganti sensor suara) untuk aktivasi/deaktivasi
  if (digitalRead(BUTTON_PIN) == LOW) {
    wheelchair_active = !wheelchair_active;
    digitalWrite(MOTOR_PIN, wheelchair_active ? HIGH : LOW);
    Serial.println(wheelchair_active ? "Voice Command: Wheelchair Activated" : "Voice Command: Wheelchair Deactivated");
    delay(500);
  }

  // Kondisi suhu ekstrem
  if (temperature > 30.0) {
    Serial.println("Warning: High Temperature Detected!");
    digitalWrite(RELAY_PIN, HIGH); // Aktifkan relay untuk pendingin/ventilator
  } else {
    digitalWrite(RELAY_PIN, LOW);
  }

  delay(2000); // Interval pengulangan loop
}