#include "HX711.h"

#define NUM_SENSORS 6
#define HX_SCK 2

int hx_dout[NUM_SENSORS] = {3, 4, 5, 6, 7, 8};

HX711 scale[NUM_SENSORS];

// Kalibrierfaktoren (später anpassen!)
float cal[NUM_SENSORS] = {
  1.0, 1.0, 1.0, 1.0, 1.0, 1.0
};

// Sensorpositionen in mm
float sx[NUM_SENSORS] = {-70, -70, 70, 70, 70, -70};
float sy[NUM_SENSORS] = { 0, 70, 70, 0, -70, -70};

// Trigger
const float TRIGGER_THRESHOLD = 20.0; // empirisch anpassen
const unsigned long WINDOW_MS = 30; // Integrationsfenster

void setup() {
  Serial.begin(115200);

  for (int i = 0; i < NUM_SENSORS; i++) {
    scale[i].begin(hx_dout[i], HX_SCK);
    scale[i].set_gain(128); // Kanal A, 80 SPS
    scale[i].tare();
  }

  Serial.println("System bereit");
}

void loop() {

  float sum = 0;
  for (int i = 0; i < NUM_SENSORS; i++) {
    if (scale[i].is_ready()) {
      sum += abs(scale[i].read());
    }
  }

  // Treffer erkannt
  if (sum > TRIGGER_THRESHOLD) {
    measureImpact();
    delay(200); // Entprellen
  }
}

void measureImpact() {

  float integral[NUM_SENSORS] = {0};
  unsigned long t0 = millis();

  while (millis() - t0 < WINDOW_MS) {
    for (int i = 0; i < NUM_SENSORS; i++) {
      if (scale[i].is_ready()) {
        float v = abs(scale[i].read()) * cal[i];
        integral[i] += v;
      }
    }
  }

  // Schwerpunkt berechnen
  float Fx = 0, Fy = 0, Fsum = 0;

  for (int i = 0; i < NUM_SENSORS; i++) {
    Fx += integral[i] * sx[i];
    Fy += integral[i] * sy[i];
    Fsum += integral[i];
  }

  if (Fsum > 0) {
    float X = Fx / Fsum;
    float Y = Fy / Fsum;

    Serial.print("Treffer X [mm]: ");
    Serial.print(X, 2);
    Serial.print(" | Y [mm]: ");
    Serial.println(Y, 2);
  }
}