#include <Wire.h>
const int MPU = 0x68; // MPU6050 I2C address
float AccX;
int sensor[9] = {2, 3, 4, 5, 6, 7, 8, 9, 10};
float force = 0;
float mass =200;
float total_acc_x = 0;
int sensor_count = 0;
void setup() {
  Serial.begin(9600);
  for (int x = 0; x < 9 ; x++)
  {
    pinMode(sensor[x], OUTPUT);
    digitalWrite(sensor[x], HIGH);
  }
  for (int x = 0; x < 9 ; x++)
  {
    digitalWrite(sensor[x], LOW);
    Wire.begin();                      // Initialize comunication
    Wire.beginTransmission(MPU);       // Start communication with MPU6050 // MPU=0x68
    Wire.write(0x6B);                  // Talk to the register 6B
    Wire.write(0x00);                  // Make reset - place a 0 into the 6B register
    Wire.endTransmission(true);        //end the transmission
    delay(100);
    digitalWrite(sensor[x], HIGH);
  }
}
void loop() {
  sensor_count = 1;
  for (int x = 0; x < 9 ; x++)
  {
    if (x==0)
    {
    digitalWrite(sensor[x], LOW);
    // === Read acceleromter data === //
    Wire.beginTransmission(MPU);
    Wire.write(0x3B); // Start with register 0x3B (ACCEL_XOUT_H)
    Wire.endTransmission(false);
    Wire.requestFrom(MPU, 6, true); // Read 6 registers total, each axis value is stored in 2 registers
    //For a range of +-2g, we need to divide the raw values by 16384, according to the datasheet
    AccX = (Wire.read() << 8 | Wire.read()) / 16384.0; // X-axis value
    // Print the values on the serial monitor
    //Serial.print(AccX);
    //Serial.println("");
    delay(20);
    if (AccX<0)
    {
      AccX=AccX*-1;
    }
    if (AccX > 0.25)
    {
      total_acc_x = AccX + total_acc_x ;
      sensor_count++;
      sensor_count--;
      Serial.println(total_acc_x);
    }
    digitalWrite(sensor[x], HIGH);
    }
  }
  if (sensor_count>0)
  {
  total_acc_x = total_acc_x / sensor_count;
  total_acc_x = total_acc_x*9.8;
  force=(mass*total_acc_x)/2;
  if (force!=0)
  {
  Serial.print(force);
  Serial.println("");
  }
  }
  total_acc_x = 0;
  sensor_count=0;
}