#include <MPU6050_tockn.h>
#include <Wire.h>
#include "U8glib.h"

MPU6050 mpu6050(Wire);

//U8GLIB_SSD1306_128X64 u8g(U8G_I2C_OPT_NONE|U8G_I2C_OPT_DEV_0);  // I2C / TWI 

void setup() {
  Serial.begin(9600);
 // u8g.begin();
  Wire.begin();
  mpu6050.begin();
  mpu6050.calcGyroOffsets(true);
}

unsigned long t1, dt;
float x,y,z;

void loop() {
  mpu6050.update();
  dt = millis() - t1;
  if (dt > 200) {
    t1 = millis();
    x = mpu6050.getAngleX(); 
    y = mpu6050.getAngleY(); 
    z = mpu6050.getAngleZ(); 

   // Serial.println("=======================================================");
   // Serial.print("temp : ");Serial.println(mpu6050.getTemp());
   // Serial.print("accX : ");Serial.print(mpu6050.getAccX());
   // Serial.print("\taccY : ");Serial.print(mpu6050.getAccY());
   // Serial.print("\taccZ : ");Serial.println(mpu6050.getAccZ());
  
   // Serial.print("gyroX : ");Serial.print(mpu6050.getGyroX());
   // Serial.print("\tgyroY : ");Serial.print(mpu6050.getGyroY());
   // Serial.print("\tgyroZ : ");Serial.println(mpu6050.getGyroZ());
  
   // Serial.print("accAngleX : ");Serial.print(mpu6050.getAccAngleX());
   // Serial.print("\taccAngleY : ");Serial.println(mpu6050.getAccAngleY());
  
   // Serial.print("gyroAngleX : ");Serial.print(mpu6050.getGyroAngleX());
   // Serial.print("\tgyroAngleY : ");Serial.print(mpu6050.getGyroAngleY());
   // Serial.print("\tgyroAngleZ : ");Serial.println(mpu6050.getGyroAngleZ());
    
   // Serial.print("angleX : ");Serial.print(mpu6050.getAngleX());
   // Serial.print("\tangleY : ");Serial.print(mpu6050.getAngleY());
   // Serial.print("\tangleZ : ");Serial.println(mpu6050.getAngleZ());
   // Serial.println("=======================================================\n");
  }
}