//Source: https://randomnerdtutorials.com/arduino-mpu-6050-accelerometer-gyroscope/

//Basic demo for accelerometer readings from Adafruit MPU6050!
//ESP32 Guide: https://RandomNerdTutorials.com/esp32-mpu-6050-accelerometer-gyroscope-arduino/
//ESP8266 Guide: https://RandomNerdTutorials.com/esp8266-nodemcu-mpu-6050-accelerometer-gyroscope-arduino/
//Arduino Guide: https://RandomNerdTutorials.com/arduino-mpu-6050-accelerometer-gyroscope/
#include <Adafruit_MPU6050.h>
#include <Adafruit_Sensor.h>
#include <Wire.h>
Adafruit_MPU6050 mpu;

void setup() {
  Serial.begin(115200);
  while (!Serial)
    delay(10); //It will pause Zero, Leonardo, etc until serial console opens!
  
  Serial.println("Adafruit MPU6050 test!");
  
  //Initialization!
  if(!mpu.begin()) {
    Serial.println("Failed to find MPU6050 chip");
    while (1) {
      delay(10);
    }
  }
  Serial.println("MPU6050 Found!");
  
  mpu.setAccelerometerRange(MPU6050_RANGE_8_G);
  Serial.print("Accelerometer range set to: ");
  switch (mpu.getAccelerometerRange()) {
  case MPU6050_RANGE_2_G:
    Serial.println("+-2G");
    break;
  case MPU6050_RANGE_4_G:
    Serial.println("+-4G");
    break;
  case MPU6050_RANGE_8_G:
    Serial.println("+-8G");
    break;
  case MPU6050_RANGE_16_G:
    Serial.println("+-16G");
    break;
  }
  mpu.setGyroRange(MPU6050_RANGE_500_DEG);
  Serial.print("Gyro range set to: ");
  switch (mpu.getGyroRange()) {
  case MPU6050_RANGE_250_DEG:
    Serial.println("+- 250 deg/s");
    break;
  case MPU6050_RANGE_500_DEG:
    Serial.println("+- 500 deg/s");
    break;
  case MPU6050_RANGE_1000_DEG:
    Serial.println("+- 1000 deg/s");
    break;
  case MPU6050_RANGE_2000_DEG:
    Serial.println("+- 2000 deg/s");
    break;
  }
  
  mpu.setFilterBandwidth(MPU6050_BAND_5_HZ);
  Serial.print("Filter bandwidth set to: ");
  switch (mpu.getFilterBandwidth()) {
  case MPU6050_BAND_260_HZ:
    Serial.println("260 Hz");
    break;
  case MPU6050_BAND_184_HZ:
    Serial.println("184 Hz");
    break;
  case MPU6050_BAND_94_HZ:
    Serial.println("94 Hz");
    break;
  case MPU6050_BAND_44_HZ:
    Serial.println("44 Hz");
    break;
  case MPU6050_BAND_21_HZ:
    Serial.println("21 Hz");
    break;
  case MPU6050_BAND_10_HZ:
    Serial.println("10 Hz");
    break;
  case MPU6050_BAND_5_HZ:
    Serial.println("5 Hz");
    break;
  }
  
  delay(100);
}

void loop() {
  //Get new sensor events with the readings.
  sensors_event_t a, g, temp;
  mpu.getEvent(&a, &g, &temp);
  //Print out the values of accelerometer!
  Serial.println("Acceleration X: ");  Serial.print(a.acceleration.x);
  Serial.print(", Y: ");  Serial.print(a.acceleration.y);
  Serial.print(", Z: ");  Serial.print(a.acceleration.z);
  Serial.print(" m/s^2 \n");
  //Print out the values of gyroscope!
  Serial.println("Rotation X: ");  Serial.print(g.gyro.x);
  Serial.print(", Y: ");  Serial.print(g.gyro.y);
  Serial.print(", Z: ");  Serial.print(g.gyro.z);
  Serial.print(" rad/s \n");
  //Print out the temperature values!
  Serial.println("Temperature: ");  Serial.print(temp.temperature);
  Serial.print(" degC \n");
}