#include <Wire.h>
#include <Adafruit_Sensor.h>
#include <Adafruit_MPU6050.h>

Adafruit_MPU6050 mpu;

void setup() {
  Serial.begin(9600);
  Wire.begin();
  mpu.begin();
  mpu.setAccelerometerRange(MPU6050_RANGE_8_G);
  mpu.setGyroRange(MPU6050_RANGE_500_DEG);
  mpu.setFilterBandwidth(MPU6050_BAND_21_HZ);
}

void loop() {
  static int count = 0;
  static float prevTime = 0.0;
  static float prevVelocity = 0.0;

  if (count < 50) {
    sensors_event_t a, g, temp;
    mpu.getEvent(&a, &g, &temp);

    float currentTime = millis() / 1000.0;
    float elapsedTime = currentTime - prevTime;

    float acceleration = a.acceleration.y * 9.81;
    float velocity = prevVelocity + acceleration * elapsedTime;

    Serial.print("Acceleration: ");
    Serial.print(acceleration);
    Serial.print(" m/s^2, Velocity: ");
    Serial.print(velocity);
    Serial.println(" m/s");

    prevTime = currentTime;
    prevVelocity = velocity;

    count++;
    delay(2000);
  }
}