#include "I2Cdev.h"
#include "MPU6050.h"

#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
    #include "Wire.h"
#endif


MPU6050 accelgyro;


int16_t ax, ay, az;
int16_t gx, gy, gz;




#define OUTPUT_READABLE_ACCELGYRO






#define LED_PIN 2
bool blinkState = false;

void setup() {
    
    #if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
        Wire.begin();
    #elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE
        Fastwire::setup(400, true);
    #endif

    
    Serial.begin(38400);

    // initialize device
    Serial.println("Initializing I2C devices...");
    accelgyro.initialize();

    // verify connection
    Serial.println("Testing device connections...");
    Serial.println(accelgyro.testConnection() ? "MPU6050 connection successful" : "MPU6050 connection failed");


    // use the code below to change accel/gyro offset values
    /*
    Serial.println("Updating internal sensor offsets...");
    // -76	-2359	1688	0	0	0
    Serial.print(accelgyro.getXAccelOffset()); Serial.print("\t"); // -76
    Serial.print(accelgyro.getYAccelOffset()); Serial.print("\t"); // -2359
    Serial.print(accelgyro.getZAccelOffset()); Serial.print("\t"); // 1688
    Serial.print(accelgyro.getXGyroOffset()); Serial.print("\t"); // 0
    Serial.print(accelgyro.getYGyroOffset()); Serial.print("\t"); // 0
    Serial.print(accelgyro.getZGyroOffset()); Serial.print("\t"); // 0
    Serial.print("\n");
    accelgyro.setXGyroOffset(220);
    accelgyro.setYGyroOffset(76);
    accelgyro.setZGyroOffset(-85);
    Serial.print(accelgyro.getXAccelOffset()); Serial.print("\t"); // -76
    Serial.print(accelgyro.getYAccelOffset()); Serial.print("\t"); // -2359
    Serial.print(accelgyro.getZAccelOffset()); Serial.print("\t"); // 1688
    Serial.print(accelgyro.getXGyroOffset()); Serial.print("\t"); // 0
    Serial.print(accelgyro.getYGyroOffset()); Serial.print("\t"); // 0
    Serial.print(accelgyro.getZGyroOffset()); Serial.print("\t"); // 0
    Serial.print("\n");
    */

    // configure Arduino LED pin for output
    pinMode(LED_PIN, OUTPUT);
}

void loop() {
    // read raw accel/gyro measurements from device
    accelgyro.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);

pinMode(4, OUTPUT);
pinMode(5, OUTPUT);
pinMode(6, OUTPUT);
pinMode(7, OUTPUT);
pinMode(8, OUTPUT);
pinMode(9, OUTPUT);
pinMode(10, OUTPUT);
pinMode(11, OUTPUT);
pinMode(12, OUTPUT);
pinMode(13, OUTPUT);
    // these methods (and a few others) are also available
    //accelgyro.getAcceleration(&ax, &ay, &az);
    //accelgyro.getRotation(&gx, &gy, &gz);

        // display tab-separated accel/gyro x/y/z values
        Serial.print("a/g:\t");
        Serial.print(ax); Serial.print("\t");
        Serial.print(ay); Serial.print("\t");
        Serial.print(az); Serial.print("\t");
        Serial.print(gx); Serial.print("\t");
        Serial.print(gy); Serial.print("\t");
        Serial.println(gz);
    



    // blink LED to indicate activity
    blinkState = !blinkState;
    digitalWrite(LED_PIN, blinkState);

    if  (ax>0) {
      
     

      digitalWrite(4,HIGH);
    
    } else {
      digitalWrite(4, LOW);
    }
    if  (ax>0) {
      
     

      digitalWrite(5,HIGH);
    
    }else {
      digitalWrite(5, LOW);
    }
    if  (ax>0) {
     

      digitalWrite(6,HIGH);
    
    }else {
      digitalWrite(6, LOW);
    }
    if  (ax>0) {
      
     

      digitalWrite(7,HIGH);
    
    } else {
      digitalWrite(7, LOW);
    } 
    if  (ax>0) {
      
     

      digitalWrite(8,HIGH);
    
    } else {
      digitalWrite(8, LOW);
    }
    if  (ax>0) {
      
     

      digitalWrite(9,HIGH);
    
    } else {
      digitalWrite(9, LOW);
    }
    if  (ax>0) {
      
     

      digitalWrite(10, HIGH);
    
    } else {
      digitalWrite(10, LOW);
    }
    if  (ax>0) {
      
     

      digitalWrite(11,HIGH);
    
    } else {
      digitalWrite(11, LOW);
    }
    if  (ax>0) {
      
     

      digitalWrite(12,HIGH);
    
    } else {
      digitalWrite(12, LOW);
    }
    if  (ax>0) {
      
     

      digitalWrite(13,HIGH);
    
    } else {
      digitalWrite(13, LOW);
    }
}