#include <Wire.h>
#include <MPU6050_light.h>
#include <Stepper.h>

Stepper myStepper(200, 2, 15);

MPU6050 mpu(Wire);
unsigned long timer = 0;

void setup() {
  // put your setup code here, to run once:
  Serial.begin(115200);
  Serial.println("Hello, ESP32!");
  Wire.begin();
  
  byte status = mpu.begin();
  Serial.print(F("MPU6050 status: "));
  Serial.println(status);
  while(status!=0){ } // stop everything if could not connect to MPU6050
  
  Serial.println(F("Calculating offsets, do not move MPU6050"));
  delay(1000);
  mpu.calcOffsets(true,true); // gyro and accelero
  Serial.println("Done!\n");
  myStepper.setSpeed(60);
}

void loop() {
  // put your main code here, to run repeatedly:
   mpu.update();

  if(millis() - timer > 100){ // print data every second
    Serial.print(F("TEMPERATURE: "));Serial.println(mpu.getTemp());
    Serial.print(F("ACCELERO  X: "));Serial.print(mpu.getAccX());
    Serial.print("\tY: ");Serial.print(mpu.getAccY());
    Serial.print("\tZ: ");Serial.println(mpu.getAccZ());
  
    Serial.print(F("GYRO      X: "));Serial.print(mpu.getGyroX());
    Serial.print("\tY: ");Serial.print(mpu.getGyroY());
    Serial.print("\tZ: ");Serial.println(mpu.getGyroZ());
  
    Serial.print(F("ACC ANGLE X: "));Serial.print(mpu.getAccAngleX());
    Serial.print("\tY: ");Serial.println(mpu.getAccAngleY());
    
    Serial.print(F("ANGLE     X: "));Serial.print(mpu.getAngleX());
    Serial.print("\tY: ");Serial.print(mpu.getAngleY());
    Serial.print("\tZ: ");Serial.println(mpu.getAngleZ());
    Serial.println(F("=====================================================\n"));
    timer = millis();
  }
}