#include <LiquidCrystal.h>         //Include LCD library for using LCD 
#include <Wire.h>                  //Include WIre library for using I2C 

/* Display */
LiquidCrystal lcd(2,3,4,5,6,7);   //Define LCD display pins RS,E,D4,D5,D6,D7

const int MPU_addr=0x68;         //I2C MPU6050 Address


#include <Wire.h>
#include <MPU6050.h>
#define period 10000

MPU6050 mpu;
int count=0;
char okFlag=0;
byte degree[8] = {
  0b00000,
  0b00110,
  0b01111,
  0b00110,
  0b00000,
  0b00000,
  0b00000,
  0b00000
};


void setup() 
{
  lcd.begin(16,2);
  lcd.createChar(0, degree);
  Serial.begin(9600);
  Serial.println("Initialize MPU6050");
  while(!mpu.begin(MPU6050_SCALE_2000DPS, MPU6050_RANGE_2G))
  {

    lcd.clear();
    lcd.print("Device not Found");
    Serial.println("Could not find a valid MPU6050 sensor, check wiring!");
    delay(500);
  }

  count=0;


  mpu.calibrateGyro();

  mpu.setThreshold(3);

  

  lcd.clear();

  lcd.print("MPU6050 Interface");

  lcd.setCursor(0,1);

  lcd.print(" Circuit Digest");

  delay(2000);

  lcd.clear();

}


void loop()

{

    lcd.clear();

    lcd.print("Temperature");

    long st=millis();

    Serial.println("Temperature");

    while(millis()<st+period)

    {

      lcd.setCursor(0,1);

      tempShow();

    }

    

    lcd.clear();

    lcd.print("Gyro");

    delay(2000);

    st=millis();

    Serial.println("Gyro");

    while(millis()<st+period)

    {

      lcd.setCursor(0,1);

      gyroShow();

    }


    lcd.clear();

    lcd.print("Accelerometer");

    delay(2000);

    st=millis();

    Serial.println("Accelerometer");

    while(millis()<st+period)

    {

      lcd.setCursor(0,1);

      accelShow();

    }

}


void tempShow()

{

    float temp = mpu.readTemperature();

    Serial.print(" Temp = ");

    Serial.print(temp);

    Serial.println(" *C");

    lcd.clear();

    lcd.print("Temperature");

    lcd.setCursor(0,1);

    lcd.print(temp);

    lcd.write((byte)0);

    lcd.print("C");

    delay(400);

}


void gyroShow()

{

  //lcd.setCursor(0,0);

  lcd.clear();

  lcd.print(" X     Y     Z");

  Vector rawGyro = mpu.readRawGyro();

  Vector normGyro = mpu.readNormalizeGyro();

  lcd.setCursor(0,1);

  lcd.print(normGyro.XAxis,1);

  lcd.setCursor(6,1);

  lcd.print(normGyro.YAxis,1);

  lcd.setCursor(12,1);

  lcd.print(normGyro.ZAxis,1);

  Serial.print(" Xnorm = ");

  Serial.print(normGyro.XAxis);

  Serial.print(" Ynorm = ");

  Serial.print(normGyro.YAxis);

  Serial.print(" Znorm = ");

  Serial.println(normGyro.ZAxis);

  delay(200);

}


void accelShow()

{

 // lcd.setCursor(0,0);

  lcd.clear();

  lcd.print(" X     Y     Z");

  Vector rawAccel = mpu.readRawAccel();

  Vector normAccel = mpu.readNormalizeAccel();

  lcd.setCursor(0,1);

  lcd.print(normAccel.XAxis,1);

  lcd.setCursor(6,1);

  lcd.print(normAccel.YAxis,1);

  lcd.setCursor(12,1);

  lcd.print(normAccel.ZAxis,1);

  Serial.print(" Xnorm = ");

  Serial.print(normAccel.XAxis);

  Serial.print(" Ynorm = ");

  Serial.print(normAccel.YAxis);

  Serial.print(" Znorm = ");

  Serial.println(normAccel.ZAxis);

  delay(200);

}