#include <Wire.h>

const int MPU_addr = 0x68; // I2C address of the MPU6050
int16_t accelerometer_x, accelerometer_y, accelerometer_z; // Accelerometer readings
int16_t gyroscope_x, gyroscope_y, gyroscope_z; // Gyroscope readings
int led_pin = 4; // Pin for the non-addressable LED

void setup() {
  Wire.begin();
  Wire.beginTransmission(MPU_addr);
  Wire.write(0x6B); // PWR_MGMT_1 register
  Wire.write(0); // Set to 0 to wake up the MPU6050
  Wire.endTransmission(true);
  Serial.begin(9600);
  pinMode(led_pin, OUTPUT);
}

void loop() {
  Wire.beginTransmission(MPU_addr);
  Wire.write(0x3B); // Starting with register 0x3B (ACCEL_XOUT_H)
  Wire.endTransmission(false);
  Wire.requestFrom(MPU_addr,14,true); // Request 14 bytes from the MPU6050

  // Read the accelerometer and gyroscope values
  accelerometer_x = Wire.read()<<8 | Wire.read(); 
  accelerometer_y = Wire.read()<<8 | Wire.read();
  accelerometer_z = Wire.read()<<8 | Wire.read();
  Wire.read();
  Wire.read();
  gyroscope_x = Wire.read()<<8 | Wire.read(); 
  gyroscope_y = Wire.read()<<8 | Wire.read();
  gyroscope_z = Wire.read()<<8 | Wire.read();

  // Print the readings to the serial monitor
  Serial.print("Ax: "); Serial.print(accelerometer_x);
  Serial.print(" Ay: "); Serial.print(accelerometer_y);
  Serial.print(" Az: "); Serial.println(accelerometer_z);
  Serial.print("Gx: "); Serial.print(gyroscope_x);
  Serial.print(" Gy: "); Serial.print(gyroscope_y);
  Serial.print(" Gz: "); Serial.println(gyroscope_z);

  // Change the intensity of the LED based on the accelerometer readings
  int intensity = map(abs(gyroscope_z), 0, 16384, 0, 255);
  analogWrite(led_pin, intensity);
  delay(2); // Wait for a short time before taking the next reading
}