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

Adafruit_MPU6050 mpu;//Data types
Servo X_Axis; Servo Y_Axis;

void setup()
{
  Serial.begin(115200);//bit/s
  mpu.begin();
  Wire.begin();
  X_Axis.attach(6);//connected motor1 (X-Axis) to pin 6.
  Y_Axis.attach(5);//connected motor2 (Y-Axis) to pin 5.
  X_Axis.write(0);
  Y_Axis.write(0);

}

/*
COMPONENTS:
1-Arduino uno, 1- mpu6050, 2-Servos (X&Y)

CONNECTIONS:
  mpu6050 -> Arduino Uno
    SDA=I2C data pin -> A4
    SCL=I2C clock pin -> A5
    GND -> GND.2
    VCC -> 5V (3-5)

  Servo -> Arduino Uno
    GND -> GND.3
    PWM -> 5,6
    v+(5V) -> 5V (3-5)
*/

void loop()
{
  sensors_event_t temp, acc, gyro;
  //user-defined data-type

  mpu.getEvent(&acc, &gyro, &temp);
  //gets value of events periodically


  int X_Axis_pos, Y_Axis_pos;
  //To convert Degree into rad.
  X_Axis_pos = gyro.gyro.x * (180/3.14);
  Y_Axis_pos = gyro.gyro.y * (180/3.14);

  //Updating servo values
  X_Axis.write(X_Axis_pos);
  Y_Axis.write(Y_Axis_pos);

  //Delay between each reading.
  delay(50);
}