#include "Wire.h"
#include "I2Cdev.h"
#include "MPU6050.h"
#include <Stepper.h>

const int stepsPerRevolution = 32;

MPU6050 mpu;

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

struct MyData {
  byte X;
  byte Y;
};

MyData data;

Stepper ayStepper(32, 8, 10, 9, 11);

int stepCount = 0;

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

  pinMode(13, OUTPUT);
  pinMode(A0, INPUT);
}

void loop(){
  mpu.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);
  data.X = map(ax, -17000, 17000, 0, 255);
  data.Y = map(ay, -17000, 17000, 0, 255);

  Serial.print(" Axis: X = ");
  Serial.print(data.X);

  Serial.print(" Axis: Y = ");
  Serial.print(data.Y);

  if (data.Y < 110){
    delay(500);
    ayStepper.setSpeed(900);
    ayStepper.step(300);
    delay(100);
  }

  if (data.Y > 135){
    delay(500);
    ayStepper.setSpeed(900);
    ayStepper.step(-300);
    delay(100);
    tone(2, 100, 500);
  }
}