// Start the simulation, click on the MPU6050 part, and
// change the x/y/z values to see changes in the plotter.

#include <Adafruit_MPU6050.h>
#include <Adafruit_Sensor.h>
#include <Wire.h>
#include <Servo.h>   
Servo sg90;          
int servo_pin = 3;

Adafruit_MPU6050 mpu;

void setup() {
  Serial.begin(115200);
sg90.attach ( servo_pin );

Wire.begin ( );

  // Try to initialize!
  if (!mpu.begin()) {
    Serial.println("Failed to find MPU6050 chip");
    while (1) {
      delay(10);
    }
  }

  mpu.setAccelerometerRange(MPU6050_RANGE_16_G);
  mpu.setGyroRange(MPU6050_RANGE_250_DEG);
  mpu.setFilterBandwidth(MPU6050_BAND_21_HZ);
  Serial.println("");
  delay(100);
}

void loop() {

  /* Get new sensor events with the readings */
  sensors_event_t a, g, temp;
  mpu.getEvent(&a, &g, &temp);
int gyroX = map (g.gyro.x, -4.37, 4.37, 0, 180) ;

  /* Print out the values */
  Serial.print(a.acceleration.x);
  Serial.print(",");
  Serial.print(a.acceleration.y);
  Serial.print(",");
  Serial.print(a.acceleration.z);
  Serial.print(", ");
  Serial.print(g.gyro.x);
  Serial.print(",");
  Serial.print(g.gyro.y);
  Serial.print(",");
  Serial.print(g.gyro.z);
  Serial.println("");


sg90.write (gyroX);
  delay(10);
}