#include <Wire.h>
#include <MPU6050.h>

MPU6050 mpu;

#define FRONT_LEFT_LED 3
#define FRONT_RIGHT_LED 4
#define REAR_LEFT_LED 5
#define REAR_RIGHT_LED 6
#define TURN_BUTTON 7

bool isTurn = false;
bool isSkidding = false;

int16_t ax, ay, az;   // Accelerometer readings (int16_t instead of float)
int16_t gx, gy, gz;   // Gyroscope readings (int16_t instead of float)

void setup() {
  Serial.begin(9600);
  
  pinMode(FRONT_LEFT_LED, OUTPUT);
  pinMode(FRONT_RIGHT_LED, OUTPUT);
  pinMode(REAR_LEFT_LED, OUTPUT);
  pinMode(REAR_RIGHT_LED, OUTPUT);
  pinMode(TURN_BUTTON, INPUT_PULLUP);  // Assuming a button with a pull-up resistor

  Wire.begin();
  mpu.initialize();
  
  if (!mpu.testConnection()) {
    Serial.println("MPU6050 connection failed");
    while (1);  // Halt the program if MPU6050 connection fails
  }
}

void loop() {
  mpu.getAcceleration(&ax, &ay, &az);  // Get accelerometer data
  mpu.getRotation(&gx, &gy, &gz);      // Get gyroscope data

  isTurn = digitalRead(TURN_BUTTON) == LOW;  // Detect turn when button is pressed

  // Simple logic for detecting skidding based on changes in acceleration or rotation
  if (abs(gy) > 10000 || abs(gz) > 10000) {  // High gyroscope values suggest sharp turns/skidding
    isSkidding = true;
  } else {
    isSkidding = false;
  }

  if (isTurn && isSkidding) {
    activateBrakes();  // Apply brakes if skidding is detected
  } else {
    releaseBrakes();   // Release brakes if no skidding
  }

  delay(100);  // Delay for stability in readings
}

void activateBrakes() {
  digitalWrite(FRONT_LEFT_LED, HIGH);
  digitalWrite(FRONT_RIGHT_LED, HIGH);
  digitalWrite(REAR_LEFT_LED, HIGH);
  digitalWrite(REAR_RIGHT_LED, HIGH);
  
  Serial.println("Skidding detected! Brakes applied.");
}

void releaseBrakes() {
  digitalWrite(FRONT_LEFT_LED, LOW);
  digitalWrite(FRONT_RIGHT_LED, LOW);
  digitalWrite(REAR_LEFT_LED, LOW);
  digitalWrite(REAR_RIGHT_LED, LOW);
  
  Serial.println("Brakes released.");
}