function [ t, gxyz, vxyz, dxyz] = process( filename, sampleRate ,xoffset,yoffset,zoffset )
%Function takes in file name, desired sample rate
%offsets are for axis parrallel to gravity (offset '-1' if so)
%returns time array in span of sample rate
%and arrays of data accn vel and disp data

%Reads in data from file
rawData = csvread(filename,5,0);

%Raw data from file split into columns
%and adjusted
tr = rawData(:,1);
gxr = ((rawData(:,2))-xoffset)*9.81;
gyr = ((rawData(:,3))-yoffset)*9.81;
gzr = ((rawData(:,4))-zoffset)*9.81;


%arrays to be returned
t = []
%arrays of data to be combined
gx = []
gy = []
gz = []
vx = []
vy = []
vz = []
dx = []
dy = []
dz = []



%smoothing values over sample rate
tmax = round(max(tr),1) %duration of data
sizeT = size(tr) %size of time array
dataPoints = tmax/sampleRate %determine number of dataPoints for given sample rate
span = round(sizeT(1)/dataPoints)%determine how many raw data points to average over


%interates var i, up to length of data
%in steps of 'span' previously calculated
for i = 1:span:size(tr)-span
    t = [t tr(i)]

    %averaging values of acceleration over the span
    %then appending to array
    gxavg = mean(gxr(i:i+span))
    gx = [gx gxavg]

    gyavg = mean(gyr(i:i+span))
    gy = [gy gyavg]

    gzavg = mean(gzr(i:i+span))
    gz = [gz gzavg]



    %ATTEMPT AT INTERGRATING
    %'integrating' with function 'trapz' over accerlation
    %calculating velocity and appending to array
%       vxt = cumtrapz(gxr(i:i+span))
%
%       vx = [vx vxt]
%
%       vyt = cumtrapz(gyr(i:i+span))
%
%       vy = [vy vyt]
%
%       vzt = cumtrapz(gzr(i:i+span))
%
%       vz = [vz vzt]


end



%SUVAT this bad boy for some velocity
uxt = 0;
uyt = 0;
uzt = 0;


for i = 1:length(t)

    %calculating velocties for time t
     vxt = uxt + gx(i)*sampleRate
     vyt = uyt + gy(i)*sampleRate
     vzt = uzt + gz(i)*sampleRate

     %calculating displacement for time t
%      dxt = sum(cumtrapz(vx))
%      dyt = sum(cumtrapz(vy))
%      dzt = sum(cumtrapz(vz))

%      dxt = uxt*sampleRate + 0.5*gx(i)*sampleRate*sampleRate
%      dyt = uyt*sampleRate + 0.5*gy(i)*sampleRate*sampleRate
%      dzt = uzt*sampleRate + 0.5*gz(i)*sampleRate*sampleRate



     %appending velocities arrays
     vx = [vx vxt]
     vy = [vy vyt]
     vz = [vz vzt]

     %appending displacement to array
%      dx = [dx dxt]
%      dy = [dy dyt]
%      dz = [dz dzt]

    %setting u as v for next calculation
     uxt = vxt
     uyt = vyt
     uzt = vzt
end
%
% %combining data arrays to structure to be returned


dx = acc2disp(gx,1/sampleRate)
dy = acc2disp(gy,1/sampleRate)
dz = acc2disp(gz,1/sampleRate)

 gxyz = struct('gx',gx, 'gy',gy, 'gz',gz) %accn array
 vxyz = struct('vx',vx, 'vy',vy, 'vz',vz) %vel array
 dxyz = struct('dx',dx,  'dy',dy, 'dz',dz) %disp array
%
%