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

#define SCREEN_WIDTH 128
#define SCREEN_HEIGHT 64
Adafruit_SSD1306 oled(SCREEN_WIDTH, SCREEN_HEIGHT, &Wire, -1);

Servo servo;

const int trigPin = 10;
const int echoPin = 11;

const int Rpin = 3;
const int Gpin = 5;
const int Bpin = 6;
const int buzzer = 7;

long duration;
int distance;

void rgb(int r, int g, int b) {
  analogWrite(Rpin, r);
  analogWrite(Gpin, g);
  analogWrite(Bpin, b);
}

int getDistance() {
  digitalWrite(trigPin, LOW);
  delayMicroseconds(2);
  digitalWrite(trigPin, HIGH);
  delayMicroseconds(10);
  digitalWrite(trigPin, LOW);

  duration = pulseIn(echoPin, HIGH);
  distance = duration * 0.034 / 2;
  return distance;
}

void setup() {
  servo.attach(9);

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

  pinMode(Rpin, OUTPUT);
  pinMode(Gpin, OUTPUT);
  pinMode(Bpin, OUTPUT);

  pinMode(buzzer, OUTPUT);

  oled.begin(SSD1306_SWITCHCAPVCC, 0x3C);
  oled.clearDisplay();
  oled.setTextSize(1);
  oled.setTextColor(SSD1306_WHITE);

  oled.setCursor(0, 0);
  oled.println("Radar v3 Booting...");
  oled.display();
  delay(1000);
}

void loop() {
  for (int angle = 0; angle <= 180; angle++) {
    servo.write(angle);
    int dist = getDistance();

    oled.clearDisplay();
    oled.setCursor(0, 0);
    oled.print("Angle: ");
    oled.print(angle);

    oled.setCursor(0, 10);
    oled.print("Distance: ");
    oled.print(dist);
    oled.print(" cm");

    oled.drawLine(64, 63, 64 + (sin(radians(angle)) * 60), 63 - (cos(radians(angle)) * 60), SSD1306_WHITE);
    oled.display();

    if (dist < 10 && dist > 0) {
      rgb(255, 0, 0);
      tone(buzzer, 900);
    } 
    else if (dist < 30) {
      rgb(255, 150, 0);
      noTone(buzzer);
    } 
    else {
      rgb(0, 255, 0);
      noTone(buzzer);
    }

    delay(0);
  }

  for (int angle = 180; angle >= 0; angle--) {
    servo.write(angle);
    int dist = getDistance();

    oled.clearDisplay();
    oled.setCursor(0, 0);
    oled.print("Angle: ");
    oled.print(angle);

    oled.setCursor(0, 10);
    oled.print("Distance: ");
    oled.print(dist);
    oled.print(" cm");

    oled.drawLine(64, 63, 64 + (sin(radians(angle)) * 60), 63 - (cos(radians(angle)) * 60), SSD1306_WHITE);
    oled.display();

    if (dist < 10 && dist > 0) {
      rgb(255, 0, 0);
      tone(buzzer, 900);
    } 
    else if (dist < 30) {
      rgb(255, 150, 0);
      noTone(buzzer);
    } 
    else {
      rgb(0, 255, 0);
      noTone(buzzer);
    }

    delay(40);
  }
}