# include "Wire.h"
# include "I2Cdev.h"
# include "MPU6050.h"
# include <Servo.h>

MPU6050 mpu;
int16_t ax, ay, az;
int16_t gx, gy, gz;

Servo servo1;
Servo servo2;

int val1;
int val2;


void setup() {
  // put your setup code here, to run once:
  Wire.begin();
  Serial.begin(115200);
  Serial.print("Initialize MPU");
  mpu.initialize();
  Serial.println(mpu.testConnection() ? "connected" : "connection failed");
  servo1.attach(2);
  servo2.attach(3);

}

void loop() {
  // put your main code here, to run repeatedly:
  mpu.getMotion6(&ax,&ay,&az,&gx,&gy,&gz);
  
  val1 = map(gx, -17000, 17000, 0, 179);

    servo1.write(val1);


  val2 = map(gy, -17000, 17000, 0, 179);

    servo2.write(val2);

}