#include <Wire.h>                 // Include Wire library for I2C communication
#include <MPU6050_light.h>        // Include library for MPU6050 communication
#include <LiquidCrystal_I2C.h>    // Library for LCD Display

MPU6050 mpu(Wire);                // Create an MPU6050 object and pass Wire as the I2C communication parameter
LiquidCrystal_I2C lcd(0x27, 16, 2); // Define LCD address and dimensions

unsigned long timer = 0;

void setup() 
{
  Serial.begin(9600);                 // Start serial communication for debugging
  lcd.begin(16, 2);                        // Initialize the LCD Display
  lcd.backlight();                    
  Wire.begin();                       // Initialize I2C communication
  mpu.begin();                        // Initialize the MPU6050 sensor
  Serial.print(F("MPU6050 status: "));
  Serial.println(F("Calculating offsets, do not move MPU6050"));
  delay(1000);
  mpu.calcGyroOffsets();               // Calibrate the gyroscope
  Serial.println("Done!\n");
}

void loop() {
  mpu.update();                       // Get the latest values from the MPU6050 sensor

  if ((millis() - timer) > 100) {      // Print data every 100ms
    timer = millis();
    lcd.clear();
    lcd.print(" Angle: ");
    lcd.print(int(mpu.getAngleZ()));   // Get the Z-axis angle value and print it on the LCD
    delay(10);
  }
}