#include <Wire.h>
#include <Adafruit_Sensor.h>
#include <MPU6050.h>
#include <AccelStepper.h>

// MPU6050 Accelerometer/Gyro Sensor
MPU6050 mpu;

// Define the two buttons
const int button1Pin = 2;
const int button2Pin = 3;

// Define the stepper motor and driver pins
const int dirPin = 4;
const int stepPin = 5;
const int ms1Pin = 6;
const int ms2Pin = 7;
const int ms3Pin = 8;
const int enablePin = 9;

// Define the stepper motor and driver
AccelStepper stepper(1, stepPin, dirPin);
const int stepsPerRevolution = 200;

void setup() {
  Serial.begin(9600);
  // Initialize the MPU6050 sensor
  mpu.initialize();

  // Initialize the two buttons
  pinMode(button1Pin, INPUT_PULLUP);
  pinMode(button2Pin, INPUT_PULLUP);

  // Initialize the stepper motor driver
  pinMode(enablePin, OUTPUT);
  digitalWrite(enablePin, LOW);
  pinMode(ms1Pin, OUTPUT);
  pinMode(ms2Pin, OUTPUT);
  pinMode(ms3Pin, OUTPUT);

  // Configure the A4988 driver for full-step mode
  digitalWrite(ms1Pin, LOW);
  digitalWrite(ms2Pin, LOW);
  digitalWrite(ms3Pin, LOW);

  // Initialize the stepper motor and driver
  stepper.setMaxSpeed(1000);
  stepper.setAcceleration(500);
  stepper.setSpeed(500);
  stepper.setPinsInverted(false, false, true);
  stepper.moveTo(0);
}

void loop() {
  // Read the orientation data from the MPU6050
  int ax, ay, az;
  mpu.getMotion6(&ax, &ay, &az, 0, 0, 0);
Serial.println("value of AY= ");
Serial.println(ay);
  // Check if the sensor is rotated clockwise
  if (ay > 500) {
    // Check if button 1 is pressed
    if (digitalRead(button1Pin) == LOW) {
      // Stop the motor
      while(ay>0){
        Serial.println("value of ay= ");

Serial.println(ay);
mpu.getMotion6(&ax, &ay, &az, 0, 0, 0);
      stepper.setSpeed(0);
      }
    } else {
      // Rotate the motor clockwise
      stepper.setSpeed(500);
      stepper.runSpeed();
     
  }
  }
  // Check if the sensor is rotated counterclockwise
  if (ay < -500) {
    // Check if button 2 is pressed
    if (digitalRead(button2Pin) == LOW) {
      // Stop the motor
      while(ay<0){
        Serial.println("value of ay= ");

Serial.println(ay);
mpu.getMotion6(&ax, &ay, &az, 0, 0, 0);
      stepper.setSpeed(0);
      }
    } else {
      // Rotate the motor counterclockwise
      stepper.setSpeed(-500);
      stepper.runSpeed();
    }
  }
  
}