#include "I2Cdev.h"
#include "MPU6050_6Axis_MotionApps20.h"
#include <Servo.h>
#include "I2Cdev.h"
#include <ESP8266WiFi.h>
#include <WiFiClient.h>

#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
    #include "Wire.h"
#endif

const char* ssid = "liu"; // 你的WiFi网络名称
const char* password = "liu280288"; // 你的WiFi网络密码
const char* serverAddress = "192.168.119.227"; // 服务器的IP地址


MPU6050 mpu;
int16_t ax, ay, az ;
int16_t gx, gy, gz ;
float roll,pitch,yaw;
String str1 = "2300";
bool flag = true;
WiFiClient client;


#define OUTPUT_READABLE_YAWPITCHROLL



#define INTERRUPT_PIN 2  // use pin 2 on Arduino Uno & most boards
#define LED_PIN 13 // (Arduino is 13, Teensy is 11, Teensy++ is 6)
bool blinkState = false;

// MPU control/status vars
bool dmpReady = false;  // set true if DMP init was successful
uint8_t mpuIntStatus;   // holds actual interrupt status byte from MPU
uint8_t devStatus;      // return status after each device operation (0 = success, !0 = error)
uint16_t packetSize;    // expected DMP packet size (default is 42 bytes)
uint16_t fifoCount;     // count of all bytes currently in FIFO
uint8_t fifoBuffer[64]; // FIFO storage buffer

// orientation/motion vars
Quaternion q;           // [w, x, y, z]         quaternion container
VectorInt16 aa;         // [x, y, z]            accel sensor measurements
VectorInt16 aaReal;     // [x, y, z]            gravity-free accel sensor measurements
VectorInt16 aaWorld;    // [x, y, z]            world-frame accel sensor measurements
VectorFloat gravity;    // [x, y, z]            gravity vector
float euler[3];         // [psi, theta, phi]    Euler angle container
float ypr[3];           // [yaw, pitch, roll]   yaw/pitch/roll container and gravity vector

// packet structure for InvenSense teapot demo
uint8_t teapotPacket[14] = { '$', 0x02, 0,0, 0,0, 0,0, 0,0, 0x00, 0x00, '\r', '\n' };



// ================================================================
// ===               INTERRUPT DETECTION ROUTINE                ===
// ================================================================

volatile bool mpuInterrupt = false;     // indicates whether MPU interrupt pin has gone high
IRAM_ATTR void dmpDataReady() {
    mpuInterrupt = true;
}



// ================================================================
// ===                      INITIAL SETUP                       ===
// ================================================================

void setup() {
        Serial.begin(115200);
        delay(10);

        // 连接WiFi网络
        Serial.println();
        Serial.println();
        Serial.print("Connecting to ");
        Serial.println(ssid);
  
        WiFi.begin(ssid, password);

       while (WiFi.status() != WL_CONNECTED) {
          delay(500);
          Serial.print(".");
       }

       Serial.println("");
       Serial.println("WiFi connected");
       Serial.println("IP address: ");
       Serial.println(WiFi.localIP());

       // 连接服务器
       Serial.print("Connecting to server: ");
       Serial.println(serverAddress);
       if (!client.connect(serverAddress, 80)) {
         Serial.println("Connection failed.");
         return;
       }




    // join I2C bus (I2Cdev library doesn't do this automatically)
    #if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
        Wire.begin();
        Wire.setClock(400000); // 400kHz I2C clock. Comment this line if having compilation difficulties
    #elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE
        Fastwire::setup(400, true);
    #endif

 
    while (!Serial); // wait for Leonardo enumeration, others continue immediately

  
    Serial.println(F("Initializing I2C devices..."));
    mpu.initialize();
    pinMode(INTERRUPT_PIN, INPUT);

    // verify connection
    Serial.println(mpu.testConnection() ? F("MPU6050 connection successful") : F("MPU6050 connection failed"));

    devStatus = mpu.dmpInitialize();

    // supply your own gyro offsets here, scaled for min sensitivity
    mpu.setXGyroOffset(220);
    mpu.setYGyroOffset(76);
    mpu.setZGyroOffset(-85);
    mpu.setZAccelOffset(1788); // 1688 factory default for my test chip

    // make sure it worked (returns 0 if so)
    if (devStatus == 0) {
        // Calibration Time: generate offsets and calibrate our MPU6050
        mpu.CalibrateAccel(6);
        mpu.CalibrateGyro(6);
        mpu.PrintActiveOffsets();
        // turn on the DMP, now that it's ready
        Serial.println(F("Enabling DMP..."));
        mpu.setDMPEnabled(true);

        // enable Arduino interrupt detection
        Serial.print(F("Enabling interrupt detection (Arduino external interrupt "));
        Serial.print(digitalPinToInterrupt(INTERRUPT_PIN));
        Serial.println(F(")..."));
        attachInterrupt(digitalPinToInterrupt(INTERRUPT_PIN), dmpDataReady, RISING);
        mpuIntStatus = mpu.getIntStatus();

        // set our DMP Ready flag so the main loop() function knows it's okay to use it
        Serial.println(F("DMP ready! Waiting for first interrupt..."));
        dmpReady = true;

        // get expected DMP packet size for later comparison
        packetSize = mpu.dmpGetFIFOPacketSize();
    } else {
        // ERROR!
        // 1 = initial memory load failed
        // 2 = DMP configuration updates failed
        // (if it's going to break, usually the code will be 1)
        Serial.print(F("DMP Initialization failed (code "));
        Serial.print(devStatus);
        Serial.println(F(")"));
    }

    // configure LED for output
    pinMode(LED_PIN, OUTPUT);

}




// ================================================================
// ===                    MAIN PROGRAM LOOP                     ===
// ================================================================

void loop() {
    // if programming failed, don't try to do anything
    if (!dmpReady) return;
    // read a packet from FIFO
    if (mpu.dmpGetCurrentFIFOPacket(fifoBuffer)) { // Get the Latest packet 

            mpu.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);
            mpu.dmpGetQuaternion(&q, fifoBuffer);
            mpu.dmpGetGravity(&gravity, &q);
            mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);


            roll = ypr[2] * 180/M_PI; //绕x轴
            pitch = ypr[1] * 180/M_PI; //y
            yaw = ypr[0] * 180/M_PI;   //z

            pitch = map(pitch,0,90,2500,1500);
            if(pitch<1300){ pitch = 1300;}
            if(pitch>2400){ pitch = 2400;}//控制右臂舵机
            
            yaw = map(yaw,-90,90,2500,500);
            if(yaw<500){ yaw = 500;}
            if(yaw>2500){ yaw = 2500;} //控制底盘舵机

           

            
            
            String str2 = String(int(pitch));
            String str3 = String(int(yaw));
            client.print(str1 + "," + str2 + "," + str3 + "," + "\n");
            Serial.println("Data sent to server: " + str1 + "," + str2 + "," + str3);

            

       
            
        // blink LED to indicate activity
        blinkState = !blinkState;
        digitalWrite(LED_PIN, blinkState);

        delay(50);

    }
}