#include <Fuzzy.h>
#include <DHT.h>
#include <ESP32Servo.h>

// Definisikan pin untuk DHT11 dan Servo
#define DHTPIN 2       // Pin untuk DHT11
#define SERVO_PIN 18   // Pin untuk Servo

// Inisialisasi objek DHT
DHT dht(DHTPIN, DHT11);

// Instansiasi objek Fuzzy
Fuzzy *fuzzy = new Fuzzy();
Servo myServo; // Objek Servo

void setup() {
  // Set Serial output
  Serial.begin(9600);
  
  // Mulai sensor DHT
  dht.begin();
  
  // Inisialisasi Servo
  myServo.attach(SERVO_PIN);
  
  // Instantiating a FuzzyInput object for temperature
  FuzzyInput *temperature = new FuzzyInput(1);
  
  // FuzzySet untuk suhu (dengan overlap lebih rapi)
  FuzzySet *cold = new FuzzySet(0, 20, 22, 25);      // Dingin
  FuzzySet *medium = new FuzzySet(23, 25, 27, 30);   // Sedang
  FuzzySet *hot = new FuzzySet(28, 30, 35, 40);      // Panas
  
  // Menambahkan FuzzySet ke FuzzyInput
  temperature->addFuzzySet(cold);
  temperature->addFuzzySet(medium);
  temperature->addFuzzySet(hot);
  
  // Menambahkan FuzzyInput ke Fuzzy
  fuzzy->addFuzzyInput(temperature);
  
  // Instantiating a FuzzyOutput object for servo angle
  FuzzyOutput *angle = new FuzzyOutput(1);
  
  // FuzzySet untuk sudut servo
  FuzzySet *small = new FuzzySet(0, 30, 30, 60);     // Sudut kecil
  FuzzySet *mediumAngle = new FuzzySet(30, 60, 60, 90); // Sudut sedang
  FuzzySet *large = new FuzzySet(60, 90, 90, 120);   // Sudut besar
  
  // Menambahkan FuzzySet ke FuzzyOutput
  angle->addFuzzySet(small);
  angle->addFuzzySet(mediumAngle);
  angle->addFuzzySet(large);
  
  // Menambahkan FuzzyOutput ke Fuzzy
  fuzzy->addFuzzyOutput(angle);
  
  // Aturan Fuzzy
  // IF suhu = dingin THEN sudut = besar
  FuzzyRuleAntecedent *ifCold = new FuzzyRuleAntecedent();
  ifCold->joinSingle(cold);
  FuzzyRuleConsequent *thenLarge = new FuzzyRuleConsequent();
  thenLarge->addOutput(large);
  FuzzyRule *rule1 = new FuzzyRule(1, ifCold, thenLarge);
  fuzzy->addFuzzyRule(rule1);
  
  // IF suhu = sedang THEN sudut = sedang
  FuzzyRuleAntecedent *ifMedium = new FuzzyRuleAntecedent();
  ifMedium->joinSingle(medium);
  FuzzyRuleConsequent *thenMedium = new FuzzyRuleConsequent();
  thenMedium->addOutput(mediumAngle);
  FuzzyRule *rule2 = new FuzzyRule(2, ifMedium, thenMedium);
  fuzzy->addFuzzyRule(rule2);
  
  // IF suhu = panas THEN sudut = kecil
  FuzzyRuleAntecedent *ifHot = new FuzzyRuleAntecedent();
  ifHot->joinSingle(hot);
  FuzzyRuleConsequent *thenSmall = new FuzzyRuleConsequent();
  thenSmall->addOutput(small);
  FuzzyRule *rule3 = new FuzzyRule(3, ifHot, thenSmall);
  fuzzy->addFuzzyRule(rule3);
}

void loop() {
  // Membaca suhu dari DHT11
  float suhu = dht.readTemperature();
  
  // Cek apakah pembacaan suhu valid
  if (isnan(suhu)) {
    Serial.println("Gagal membaca suhu dari DHT11!");
    delay(2000); // Tunggu sebentar sebelum mencoba lagi
    return;
  }
  
  // Menampilkan suhu ke Serial Monitor
  Serial.print("Suhu: ");
  Serial.println(suhu);
  
  // Set suhu sebagai input fuzzy
  fuzzy->setInput(1, suhu);
  
  // Melakukan fuzzifikasi
  fuzzy->fuzzify();
  
  // Melakukan defuzzifikasi
  float output = fuzzy->defuzzify(1);
  
  // Menjaga output dalam range 0-180 derajat
  output = constrain(output, 0, 180);
  
  // Mengatur sudut servo
  myServo.write(output);
  
  // Menampilkan sudut servo ke Serial Monitor
  Serial.print("Sudut Servo: ");
  Serial.println(output);
  
  // Tunggu 5 detik sebelum pembacaan berikutnya
  delay(2000);
}