#include <MPU6050_tockn.h>
#include <Wire.h>
#include <Servo.h>

MPU6050 mpu6050(Wire);
int x=0;
int y=0;
int b=0;
int a=0;

void setup() {
  Serial.begin(9600);
  Wire.begin();
  mpu6050.begin();
  //mpu6050.calcGyroOffsets(true);
  mpu6050.setGyroOffsets(0, 0, 0);
}

void loop() {
  mpu6050.update();
  Serial.print("angleX : ");
  Serial.print(mpu6050.getAngleX());
  Serial.print("\tangleY : ");
  Serial.println(mpu6050.getAngleY());
  a = mpu6050.getAngleX();
  b = mpu6050.getAngleY();
  x = map(a, -435, 435, 0, 255);
  y = map(b, -435, 435, 0, 255);
  analogWrite( 0, x);
  analogWrite( 1, y);
  Serial.print(x);
  Serial.print(" / ");
  Serial.print(y);
}