#include <Wire.h>
#include <LiquidCrystal_I2C.h>
#include <MPU6050.h>

LiquidCrystal_I2C lcd(0x27, 16, 2);

MPU6050 mpu;

void setup() {
  lcd.init();
  lcd.backlight();
  
  Wire.begin();
  mpu.initialize();
}

void loop() {
  int16_t ax, ay, az, gx, gy, gz; 
  

  mpu.getMotion6(&ax, &ay, &az, &gx, &gy, &gz); 

  float pitch = gy/131;
  float roll = gx/131;

  
  

   float ax_f = (float)ax / 16384.0; 
  float ay_f = (float)ay / 16384.0;
  float az_f = (float)az / 16384.0;
  
float gforce = sqrt(ax*ax + ay*ay + az*az)/16384;
  lcd.setCursor(0, 0);
  lcd.print(pitch, 1);
  lcd.setCursor(7, 0);
  lcd.print(roll, 1);
  lcd.setCursor(0, 1);
  lcd.print("G: ");
  lcd.print(gforce, 2);
 ;

  delay(100);
}