#include <Wire.h>
#include <MPU6050.h>
#include <LiquidCrystal_I2C.h> // Include the LCD library

MPU6050 mpu1(0x68);  // Replace 0x68 with the actual address of MPU6050-1
MPU6050 mpu2(0x69);  // Replace 0x69 with the actual address of MPU6050-2

LiquidCrystal_I2C lcd(0x27, 16, 2);  // Replace 0x27 with the address of your LCD (use LCD I2C scanner to find the address)

void setup() {
  Serial.begin(9600);
  Wire.begin();

  // Initialize the LCD
  lcd.init();
  lcd.backlight();

  // Initialize the first MPU6050
  mpu1.initialize();
  if (mpu1.testConnection()) {
    Serial.println("MPU6050-1 connection successful");
    lcd.setCursor(0, 0);
    lcd.print("MPU6050-1 OK");
  } else {
    Serial.println("MPU6050-1 connection failed");
    lcd.setCursor(0, 0);
    lcd.print("MPU6050-1 Error");
    while (1);
  }

  // Initialize the second MPU6050
  mpu2.initialize();
  if (mpu2.testConnection()) {
    Serial.println("MPU6050-2 connection successful");
    lcd.setCursor(0, 1);
    lcd.print("MPU6050-2 OK");
  } else {
    Serial.println("MPU6050-2 connection failed");
    lcd.setCursor(0, 1);
    lcd.print("MPU6050-2 Error");
    while (1);
  }
}

void loop() {
  int16_t ax1, ay1, az1, gx1, gy1, gz1;
  mpu1.getMotion6(&ax1, &ay1, &az1, &gx1, &gy1, &gz1);

  int16_t ax2, ay2, az2, gx2, gy2, gz2;
  mpu2.getMotion6(&ax2, &ay2, &az2, &gx2, &gy2, &gz2);

  Serial.print("MPU6050-1 - Gyro: ");
  Serial.print(gx1);
  Serial.print(", ");
  Serial.print(gy1);
  Serial.print(", ");
  Serial.println(gz1);

  Serial.print("MPU6050-2 - Gyro: ");
  Serial.print(gx2);
  Serial.print(", ");
  Serial.print(gy2);
  Serial.print(", ");
  Serial.println(gz2);

  // Display gyroscope data on the LCD
  lcd.setCursor(0, 0);
  lcd.print("G1: ");
  lcd.print(gx1);
  lcd.print(", ");
  lcd.print(gy1);
  lcd.print(", ");
  lcd.print(gz1);

  lcd.setCursor(0, 1);
  lcd.print("G2: ");
  lcd.print(gx2);
  lcd.print(", ");
  lcd.print(gy2);
  lcd.print(", ");
  lcd.print(gz2);

  delay(500); // You can adjust the delay according to your requirements
}