#include
Servo xservo;

#include
#include "Kalman.h"
Kalman kalmanX;
Kalman kalmanY;

uint8_t IMUAddress = 0x68; // MPU6050 Address

/* IMU Data */
int16_t accX;
int16_t accY;
int16_t accZ;
int16_t tempRaw;
int16_t gyroX;
int16_t gyroY;
int16_t gyroZ;

int moveX;
int mapX;
int correctionX;

double accXangle;
double accYangle;
double gyroXangle = 9;
double gyroYangle = 180;
double compAngleX = 90;
double compAngleY = 90;
double kalAngleX;
double kalAngleY;
uint32_t timer;


// ---------- VOID SETUP START -------------- /
void setup() {
Serial.begin(115200);
xservo.attach(10);


Wire.begin();
i2cWrite(0x6B,0x00); // Disable sleep mode
if(i2cRead(0x75,1)[0] != 0x68) { // Read "WHO_AM_I" register
Serial.print(F("MPU-6050 with address 0x"));
Serial.print(IMUAddress,HEX);
Serial.println(F(" is not connected"));
while(1);
}
kalmanX.setAngle(90); // Set starting angle
kalmanY.setAngle(90);
timer = micros();
}

// ---------- VOID SETUP END -------------- /
// ---------------------- VOID LOOP START -------------- /
void loop() {
/* Update all the values */
uint8_t* data = i2cRead(0x3B,14);
accX = ((data[0] << 8) | data[1]);
accY = ((data[2] << 8) | data[3]);
accZ = ((data[4] << 8) | data[5]);
tempRaw = ((data[6] << 8) | data[7]);
gyroX = ((data[8] << 8) | data[9]);
gyroY = ((data[10] << 8) | data[11]);
gyroZ = ((data[12] << 8) | data[13]);

/* Calculate the angls based on the different sensors and algorithm */

accYangle = (atan2(accX,accZ)+PI)*RAD_TO_DEG;
accXangle = (atan2(accY,accZ)+PI)*RAD_TO_DEG;
double gyroXrate = (double)gyroX/131.0;
double gyroYrate = -((double)gyroY/131.0);
gyroXangle += gyroXrate*((double)(micros()-timer)/1000000); // Calculate gyro angle without any filter

gyroXangle += kalmanX.getRate()*((double)(micros()-timer)/1000000); // Calculate gyro angle using the unbiased rate
compAngleX = (0.93*(compAngleX+(gyroXrate*(double)(micros()-timer)/1000000)))+(0.07*accXangle); // Calculate the angle using a Complimentary filter

kalAngleX = kalmanX.getAngle(accXangle, gyroXrate, (double)(micros()-timer)/1000000); // Calculate the angle using a Kalman filter
timer = micros();
mapX = map(kalAngleX, 0, 200, 0, 179); //calculate limitation of servo mechanical


// /////////////////////////////

correctionX = 27; // EDIT THIS VALUE FOR SERVO CORRECTION ANGLE

// ////////////////////////////
moveX = 270 - (kalAngleX) + correctionX;

// ------- SEND TO SERIAL PRINT START ----- /

Serial.print("saft7.com X Pos: ");
Serial.print(moveX);Serial.print("\t");
Serial.print("\n");

// ------- SEND TO SERIAL PRINT END ----- /


// ------- SEND TO SERVO START ----- /

xservo.write(moveX); // Send signal to servo
delay(15); // delay to allow servos to move (ms)

// ------- SEND TO SERVO END ----- /

delay(1); // The accelerometer's maximum samples rate is 1kHz
}
// ---------------------- VOID LOOP END -------------- /



// -- FUNCTIONS START --
void i2cWrite(uint8_t registerAddress, uint8_t data){
Wire.beginTransmission(IMUAddress);
Wire.write(registerAddress);
Wire.write(data);
Wire.endTransmission(); // Send stop
}

uint8_t* i2cRead(uint8_t registerAddress, uint8_t nbytes) {
uint8_t data[nbytes];
Wire.beginTransmission(IMUAddress);
Wire.write(registerAddress);
Wire.endTransmission(false); // Don't release the bus
Wire.requestFrom(IMUAddress, nbytes); // Send a repeated start and then release the bus after reading
for(uint8_t i = 0; i < nbytes; i++)
data[i] = Wire.read();
return data;
}
// -- FUNCTIONS END --

// END