//filename: w10 up exercise Arduino UNO IMU practice (20221114)v2

#include <MPU6050_tockn.h> //include MPU6050 IMU library
#include <wire.h>

//user define function, IMU library
MPU6050 imu(wire);

void setup() {
  // put your setup code here, to run once:
  Serial.begin(19200);
  Serial.println("IMU test...");

  Wire.begin(); //Initialize I2C communciation
  imu.begin();  //Initialize MPU 6050 chip
  imu.calcGyroOffects(true);  //Initialize offset
}

void loop() {
  imu.update();

  Serial.print("getGyroAngleX: ");  //show gyro angle x
  Serial.print(imu.getGyroAngleX());
  Serial.println("getAccAngleX: "); //show acc. angle x
  Serial.print(imu.getAccAngleX());
  Serial.println("getAngleX: ");    //show comboined angle x
  Serial.print(imu.getAngleX());
}