//TASK ONE
/*
  Blink
  Turns on an LED on for one second, then off for one second, repeatedly.

  This example code is in the public domain.
 */

// Pin 13 has an LED connected on most Arduino boards.
// give it a name:
int led = 13;

// the setup routine runs once when you press reset:
void setup() {
  // initialize the digital pin as an output.
  pinMode(led, OUTPUT);
}

// the loop routine runs over and over again forever:
void loop() {
  digitalWrite(led, HIGH);   // turn the LED on (HIGH is the voltage level)
  delay(1000);               // wait for a second
  digitalWrite(led, LOW);    // turn the LED off by making the voltage LOW
  delay(1000);               // wait for a second
}


/*
  Button

  Turns on and off a light emitting diode(LED) connected to digital pin 13,
  when pressing a pushbutton attached to pin 2.

  The circuit:
  - LED attached from pin 13 to ground
  - pushbutton attached to pin 2 from +5V
  - 10K resistor attached to pin 2 from ground

  - Note: on most Arduinos there is already an LED on the board
    attached to pin 13.

  created 2005
  by DojoDave <http://www.0j0.org>
  modified 30 Aug 2011
  by Tom Igoe

  This example code is in the public domain.

  http://www.arduino.cc/en/Tutorial/Button
*/

// constants won't change. They're used here to set pin numbers:
const int buttonPin = 2;     // the number of the pushbutton pin
const int ledPin =  13;      // the number of the LED pin

// variables will change:
int buttonState = 0;         // variable for reading the pushbutton status

void setup() {
  // initialize the LED pin as an output:
  pinMode(ledPin, OUTPUT);
  // initialize the pushbutton pin as an input:
  pinMode(buttonPin, INPUT);
}

void loop() {
  // read the state of the pushbutton value:
  buttonState = digitalRead(buttonPin);

  // check if the pushbutton is pressed. If it is, the buttonState is HIGH:
  if (buttonState == HIGH) {
    // turn LED on:
    digitalWrite(ledPin, HIGH);
  } else {
    // turn LED off:
    digitalWrite(ledPin, LOW);
  }
}


//Controlling led by potentiometer

//Rotate the shaft of the potentiometer and you should see the luminance of the LED change.
//Email:support@sunfounder.com
//Website:www.sunfounder.com
//2015.5.7
/******************************************/
const int analogPin = A0;//the analog input pin attach to analog pin A0
const int ledPin = 9;//the led attach to pin 9
int inputValue = 0;//variable to store the value coming from sensor
int outputValue = 0;//variable to store the output value
/******************************************/
void setup()
{
}
/******************************************/
void loop()
{
inputValue = analogRead(analogPin);//read the value from the sensor
outputValue = map(inputValue,0,1023,0,255);//Convert from 0-1023 proportional to the number of a number of from 0 to 255
analogWrite(ledPin,outputValue);//turn the led on depend on the output value
}
/*******************************************/



//TASK TWO

/*
* Ultrasonic Sensor HC-SR04 and Arduino Tutorial
*
* by Dejan Nedelkovski,
* www.HowToMechatronics.com
*
*/
// defines pins numbers
const int sensorPin = 0;
const int buzzerPin = 23;
//const int ledPin = 9;

// We'll also set up some global variables for the light level:

int lightLevel, high = 0, low = 1023;
const int trigPin = 9;
const int echoPin = 10;
int motorPin = 3;
// defines variables
long duration;
int motorspeed;
int distance;
void setup() {
  //pinMode(ledPin, OUTPUT);
pinMode(trigPin, OUTPUT); // Sets the trigPin as an Output
pinMode(echoPin, INPUT); // Sets the echoPin as an Input
Serial.begin(9600); // Starts the serial communication
pinMode(motorPin, OUTPUT);
pinMode(buzzerPin,OUTPUT);
while (! Serial);
Serial.println("Speed 0 to 255");
}
void loop() {
// Clears the trigPin
digitalWrite(trigPin, LOW);
delayMicroseconds(2);
// Sets the trigPin on HIGH state for 10 micro seconds
digitalWrite(trigPin, HIGH);
delayMicroseconds(10);
digitalWrite(trigPin, LOW);
// Reads the echoPin, returns the sound wave travel time in microseconds
duration = pulseIn(echoPin, HIGH);
// Calculating the distance
distance= duration*0.034/2;

if (distance > 25) {
  distance = 25;
}
if(distance > 1000) {
  distance = 0;
}



    int speed = distance*10;
    if (speed >= 0 && speed <= 255)
    {
      analogWrite(motorPin, speed);
      Serial.println("speed");
      Serial.println(speed);
    }



// Prints the distance on the Serial Monitor
delay(1000);


lightLevel = analogRead(sensorPin);


//delay(1000);

  manualTune();  // manually change the range from light to dark

if(lightLevel < 100)  {
  //tone(buzzerPin,HIGH);
  //delay(1000);
digitalWrite(buzzerPin,HIGH);
//delay(1000);

}
else {
  //tone(buzzerPin,500);
    //delay(1000);

  digitalWrite(buzzerPin,LOW);
  //delay(1000);


}


  //analogWrite(ledPin, lightLevel);
  Serial.println("lightLevel");
  Serial.println(lightLevel);

//Serial.print("Distance: ");
//Serial.println(distance);
}


void manualTune()
{

  lightLevel = map(lightLevel, 0, 1023, 0, 255);
  lightLevel = constrain(lightLevel, 0, 255);


}


void autoTune()
{


  if (lightLevel < low)
  {
    low = lightLevel;
  }

  if (lightLevel > high)
  {
    high = lightLevel;
  }


  lightLevel = map(lightLevel, low+30, high-30, 0, 255);
  lightLevel = constrain(lightLevel, 0, 255);


}



//TASK THREE

#include<Wire.h>
const int MPU=0x68;
int16_t AcX,AcY,AcZ,Tmp,GyX,GyY,GyZ;
#define ADC_ref 5
#define zero_x 1.799
#define zero_y 1.799
#define zero_z 1.799
#define sensitivity_x 0.4
#define sensitivity_y 0.4
#define sensitivity_z 0.4


unsigned int value_x;
unsigned int value_y;
unsigned int value_z;

float xv;
float yv;
float zv;

float angle;
float angle2;



void setup(){
  Wire.begin();
  Wire.beginTransmission(MPU);
  Wire.write(0x6B);
  Wire.write(0);
  Wire.endTransmission(true);
  Serial.begin(9600);
  analogReference(ADC_ref);

}
void loop(){
  Wire.beginTransmission(MPU);
  Wire.write(0x3B);
  Wire.endTransmission(false);
  Wire.requestFrom(MPU,12,true);
  value_x=Wire.read()<<8|Wire.read();
  value_y=Wire.read()<<8|Wire.read();
  value_z=Wire.read()<<8|Wire.read();

xv=(value_x/1024.0*ADC_ref-zero_x)/sensitivity_x;
yv=(value_y/1024.0*ADC_ref-zero_y)/sensitivity_y;
zv=(value_z/1024.0*ADC_ref-zero_z)/sensitivity_z;
angle =atan2(-yv,-zv)*57.2957795+180;
angle2 = atan2(-xv,-zv)*57.2957795+180;

Serial.println("angle X:");
Serial.println(angle);
Serial.println("angle Y:");

Serial.println(angle2);
delay(1000);


//  GyX=Wire.read()<<8|Wire.read();
//  GyY=Wire.read()<<8|Wire.read();
//  GyZ=Wire.read()<<8|Wire.read();
//
//  Serial.print("Accelerometer: ");
//  Serial.print("X = "); Serial.print(AcX);
//  Serial.print(" | Y = "); Serial.print(AcY);
//  Serial.print(" | Z = "); Serial.println(AcZ);
//
//  Serial.print("Gyroscope: ");
//  Serial.print("X = "); Serial.print(GyX);
//  Serial.print(" | Y = "); Serial.print(GyY);
//  Serial.print(" | Z = "); Serial.println(GyZ);
//  Serial.println(" ");
//  delay(333);

}