#include <LiquidCrystal_I2C.h>
#include <Wire.h>
#include <Adafruit_MPU6050.h>
#include <Adafruit_Sensor.h>
#include <Arduino.h>
#include <RTClib.h>

Adafruit_MPU6050 mpu;
RTC_DS1307 rtc;
LiquidCrystal_I2C lcd1(0x27, 20, 4);

#define trig1 2
#define trig2 3
#define echo1 4
#define echo2 5
int ledPin = 10;
int LDRPin = A0; //check after removing                
int motionPin = 8;              
int pirState = LOW;             
int val = 0; 



float get_distance(int trigx, int echox); 

void setup() {
  pinMode(trig1, OUTPUT);
  pinMode(trig2, OUTPUT);
  pinMode(echo1, INPUT);
  pinMode(echo2, INPUT);
  Serial.begin(115200);
  pinMode(ledPin, OUTPUT);      
  pinMode(motionPin, INPUT); 
  lcd1.begin(20,4);
  lcd1.backlight();

  mpu.begin(0x69);
  rtc.begin();
  mpu.setGyroRange(MPU6050_RANGE_250_DEG);  
}

void loop() {
  float dist1 = get_distance(trig1, echo1);
  float dist2 = get_distance(trig2, echo2);
  float f;

  if (dist1 <= 100) {
    f = dist1;
  } 
  else if (dist2 >= 150) {
    f = dist2;
  } 
  else {
    f = 0.4 * dist1 + 0.6 * dist2;
  }

  Serial.print("Distance Value: ");
  Serial.println(f);

  lcd1.clear();
  lcd1.print("Distance: ");
  lcd1.println(f);

  

  sensors_event_t a, g, temp;
  mpu.getEvent(&a, &g, &temp);

  float x_angular_velocity = g.gyro.x;
  float y_angular_velocity = g.gyro.y;

  Serial.print("Angular velocity (x-axis): ");
  Serial.print(x_angular_velocity);
  Serial.println(" rad/s");
  Serial.print("Angular velocity (y-axis): ");
  Serial.print(y_angular_velocity);
  Serial.println(" rad/s");
  lcd1.setCursor(0,1);
  lcd1.print("X-AngVel:");
  lcd1.print(x_angular_velocity);
  lcd1.print("rad/s");
  lcd1.setCursor(0,2);
  lcd1.print("Y-AngVel:");
  lcd1.print(y_angular_velocity);
  lcd1.print("rad/s");
  
  if (x_angular_velocity==0 && y_angular_velocity == 0)
  {
    delay(100);
    lcd1.setCursor(0,3);
    lcd1.print("Successful level");
  }
  delay(3000);
  DateTime now = rtc.now();
  Serial.print("Time: ");
  Serial.print(now.hour(), DEC);
  Serial.print(':');
  Serial.print(now.minute(), DEC);
  Serial.print(':');
  Serial.print(now.second(), DEC);
  Serial.println();
  lcd1.clear();
  lcd1.print("Time: ");
  lcd1.print(now.hour(), DEC);
  lcd1.print(':');
  lcd1.print(now.minute(), DEC);
  lcd1.print(':');
  lcd1.print(now.second(), DEC);
  lcd1.println();
  delay(3000);
  DateTime later = rtc.now();
  Serial.print("Time after 3s: ");
  Serial.print(later.hour(), DEC);
  Serial.print(':');
  Serial.print(later.minute(), DEC);
  Serial.print(':');
  Serial.print(later.second(), DEC);
  Serial.println();
  lcd1.setCursor(0,1);
  lcd1.print("Newtime:");
  lcd1.print(later.hour(), DEC);
  lcd1.print(':');
  lcd1.print(later.minute(), DEC);
  lcd1.print(':');
  lcd1.print(later.second(), DEC);
  delay(2000);
  int LDRValue = analogRead(LDRPin);   
  int LDRScaled = map(LDRValue, 0, 1023, 0, 255);
  int LEDValue = LDRScaled;
  int PIRValue = digitalRead(motionPin);
  
  if (PIRValue == HIGH)
  {
    Serial.println("Motion detected");
    analogWrite(ledPin, 0);
    Serial.print("LDR:");
    Serial.println(LDRScaled);
    Serial.println("Torch brightness: 0");
    lcd1.clear();
    lcd1.print("PIR: Person Present");
    lcd1.setCursor(0,1);
    lcd1.print("LDR:");
    lcd1.print(LDRScaled);
    lcd1.setCursor(0,2);
    lcd1.print("Torch Brightness: 0");
  }
  else
  {
    Serial.println("No motion detected");
    analogWrite(ledPin, LEDValue);
    Serial.print("LDR:");
    Serial.println(LDRScaled);
    Serial.print("Torch brightness:");
    Serial.println(LEDValue);
    lcd1.clear();
    lcd1.print("PIR: Person Absent");
    lcd1.setCursor(0,1);
    lcd1.print("LDR:");
    lcd1.print(LDRScaled);
    lcd1.setCursor(0,2);
    lcd1.print("Torch Brightness:");
    lcd1.setCursor(0,3);
    lcd1.print(LEDValue);
  }
  delay(1000);
}


float get_distance(int trigx, int echox) {
  digitalWrite(trigx, LOW);
  delayMicroseconds(2);
  digitalWrite(trigx, HIGH);
  delayMicroseconds(10);
  digitalWrite(trigx, LOW);

  long t = pulseIn(echox, HIGH);
  
  float dist = t * 0.034 / 2;

  return dist; 
}