#include <Wire.h>

#include <ESP32Servo.h>

#include <Adafruit_GFX.h>
#include <Adafruit_SSD1306.h>

#define SCREEN_WIDTH 128 // OLED display width,  in pixels
#define SCREEN_HEIGHT 64 // OLED display height, in pixels

// declare an SSD1306 display object connected to I2C
Adafruit_SSD1306 oled(SCREEN_WIDTH, SCREEN_HEIGHT, &Wire, -1);

static const int servoPin = 13;

Servo servo1;

int trigPin = 19;
int echoPin = 18;

float duration_us, distance_cm;

void setup() {
  // put your setup code here, to run once:
  Serial.begin(115200);
  servo1.attach(servoPin);
  pinMode(2, OUTPUT);

  pinMode(trigPin, OUTPUT);
  pinMode(echoPin, INPUT);

  // initialize OLED display with address 0x3C for 128x64
  if (!oled.begin(SSD1306_SWITCHCAPVCC, 0x3C)) {
    Serial.println(F("SSD1306 allocation failed"));
    while (true);
  }
}
void loop() {
  // put your main code here, to run repeatedly:
  delay(2000);         // wait for initializing

  digitalWrite(trigPin, HIGH);
  delayMicroseconds(10);
  digitalWrite(trigPin, LOW);

  duration_us = pulseIn(echoPin, HIGH);

  distance_cm = 0.017 * duration_us;
  if (distance_cm < 100) {
    oled.clearDisplay();
    oled.setTextSize(1);
    oled.setTextColor(WHITE);
    oled.setCursor(0, 10);
    oled.println("The Servo has spun to the right!");
    oled.display();
    for (int posDegrees = 0; posDegrees <= 180; posDegrees++) {
      servo1.write(posDegrees);
      Serial.println(posDegrees);
      delay(20);
    }
  }
  else {
    oled.clearDisplay();
    oled.setTextSize(1);
    oled.setTextColor(WHITE);
    oled.setCursor(0, 10);
    oled.println("The Servo has spun to the left!");
    oled.display();
    for (int posDegrees = 180; posDegrees >= 0; posDegrees--) {
      servo1.write(posDegrees);
      Serial.println(posDegrees);
      delay(20);
    }
  }

  // oled.clearDisplay();
  // oled.setTextSize(1);
  // oled.setTextColor(WHITE);
  // oled.setCursor(0, 10);
  // oled.println("Distance: ");
  // oled.print(distance_cm);
  // oled.print(" cm");
  // oled.display();

  // oled.setTextSize(1);
  // oled.setTextColor(WHITE);
  // oled.setCursor(0, 30);
  // oled.println("Duration: ");
  // oled.print(duration_us);
  // oled.print(" us");
  // oled.display();

  // delay(5000);
  // digitalWrite(2, HIGH);
  // Serial.println("The LED is on!");
  // oled.clearDisplay();
  // oled.setTextSize(1);
  // oled.setTextColor(WHITE);
  // oled.setCursor(0, 10);
  // oled.println("The LED is on!");
  // oled.display();

  // delay(2000);
  // digitalWrite(2, LOW);
  // Serial.println("The LED is off!");
  // oled.setTextSize(1);
  // oled.setTextColor(WHITE);
  // oled.setCursor(0, 30);
  // oled.println("The LED is off!");
  // oled.display();
}