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

Adafruit_MPU6050 mpu;
TwoWire CustomI2C0(26, 27);

void setup() {
  // put your setup code here, to run once:
  Serial1.begin(115200);
  while(!Serial1){
    delay(10);
  }

  if(!mpu.begin(0x68, &CustomI2C0, 0)){
    Serial1.println("Falló la comunicación con el módulo MPU6050");
    while(1){
      delay(10);
    }
  }
  mpu.setAccelerometerRange(MPU6050_RANGE_16_G);
  mpu.setGyroRange(MPU6050_RANGE_250_DEG);
  mpu. setFilterBandwidth(MPU6050_BAND_21_HZ);
  Serial1.println("");
  delay(100);
}

void loop() {
  // put your main code here, to run repeatedly:
  sensors_event_t a, g, temp;
  mpu.getEvent(&a, &g, &temp);
/*
  Serial1.print("AccelX: ");
  Serial1.print(a.acceleration.x);
  Serial1.print(" ; ");
  Serial1.print("AccelY: ");
  Serial1.print(a.acceleration.y);
  Serial1.print(" ; ");
  Serial1.print("AccelZ: ");
  Serial1.print(a.acceleration.z);
*/
  Serial1.print("GyroX: ");
  Serial1.print(g.gyro.x);
  Serial1.print(" ; ");
  Serial1.print("GyroY: ");
  Serial1.print(g.gyro.y);
  Serial1.print(" ; ");
  Serial1.print("GyroZ: ");
  Serial1.print(g.gyro.z);

  Serial1.println("");
  delay(500); // this speeds up the simulation
}