#include "MPU6050.h" // подключение библиотеки
#include <LiquidCrystal_I2C.h>
MPU6050 mpu; //датчик
int16_t ax, ay, az;

enum AxelNumToLett {
  X_axel = 0,
  Y_axel = 1,
  Z_axel = 2
};

#define I2C_ADDR    0x27
#define LCD_COLUMNS 20
#define LCD_LINES   4
LiquidCrystal_I2C lcd(I2C_ADDR, LCD_COLUMNS, LCD_LINES);

const char text[11] = {132, 72, 75, 134, 132, 72, 79, 77, 69, 84, 80};
const byte symbol[8] =  // ь
{
 B00000,
 B00000,
 B10000,
 B10000,
 B11110,
 B10001,
 B10001,
 B11110,
};

float RunnigMid(float incline, byte axel){
  static byte index = 0;
  static float angleArr[3][10];
  angleArr[axel][index] = incline;
  index++;
  if(index >= 10){
    index = 0;
  }
  float mid[3] = {0, 0, 0};
  for(int i = 0; i < 10; i++){
    mid[axel] += angleArr[axel][i];
  }
  return (float)mid[axel]/10;
}

void PrintAxel(float axel, char mark, byte index){
  lcd.setCursor(0, index + 1);
  lcd.print("                    ");
  lcd.setCursor(0, index + 1);
  lcd.print("Oc"); lcd.write(byte(0)); lcd.print(" ");
  lcd.print(mark); lcd.print(": ");
  lcd.print(axel); lcd.write(176);
}

void setup()
{
  Wire.begin();
  Serial.begin(9600);
  mpu.initialize();
  Serial.println(mpu.testConnection() ? "MPU6050 OK" : "MPU6050 FAIL"); // состояние соединения

  lcd.init();
  lcd.backlight();
  lcd.createChar(0, symbol);
  lcd.setCursor(4, 0);
  for(int i = 0; i < 11; i++){
    lcd.write(text[i]);
  }
  delay(1000);
}

void loop()
{
  static float axels[3] = {0.001, 0.001, 0.001}; 
  const char axelsLetter[3] = {'X', 'Y', 'Z'};

  mpu.getAcceleration(&ax, &ay, &az);

  if(axels[X_axel] != RunnigMid((float)ax/32768*2, X_axel)){
    axels[X_axel] = RunnigMid((float)ax/32768*2, X_axel);
    PrintAxel(axels[X_axel], axelsLetter[X_axel], X_axel);
  }

  if(axels[Y_axel] != RunnigMid((float)ay/32768*2, Y_axel)){
    axels[Y_axel] = RunnigMid((float)ay/32768*2, Y_axel);
    PrintAxel(axels[Y_axel], axelsLetter[Y_axel], Y_axel);
  }

  if(axels[Z_axel] != RunnigMid((float)az/32768*2, Z_axel)){
    axels[Z_axel] = RunnigMid((float)az/32768*2, Z_axel);
    PrintAxel(axels[Z_axel], axelsLetter[Z_axel], Z_axel);
  }

  delay(100);
}