//#include <Adafruit_MPU6050.h>
//#include <Adafruit_Sensor.h>
//#include "Wire.h"
#include <MPU6050_tockn.h>
#include <Wire.h>
MPU6050 mpu6050(Wire);
int trig_pin=2;
int echo_pin=3;
int x, y, z;
float distance;
long getDistance(){
digitalWrite(trig_pin,LOW);
delayMicroseconds(2);
digitalWrite(trig_pin,HIGH);
delayMicroseconds(10);
digitalWrite(trig_pin,LOW);
long duration = pulseIn(echo_pin, HIGH);
long distanceCM = duration*0.034/2;
return distanceCM;
}
void setup(void) {
Serial.begin(9600);
pinMode(trig_pin, OUTPUT);
pinMode(echo_pin, INPUT);
Wire.begin();
mpu6050.begin();
mpu6050.calcGyroOffsets(true);
Serial.println(" ");
}
void loop() {
mpu6050.update();
distance=getDistance();
x = mpu6050.getAngleX();
y = mpu6050.getAngleY();
z = mpu6050.getAngleZ();
Serial.print("X: "); Serial.print(x); Serial.print(" ");
Serial.print("Y: "); Serial.print(y); Serial.print(" ");
Serial.print("Z: "); Serial.println(z);
Serial.println(distance);
Serial.println("-----------------------------------------");
Serial.println("");
//delay(500);
}