#include <AccelStepper.h>
#include <Wire.h>
#include <Adafruit_MPU6050.h>
#include <Adafruit_Sensor.h>

//tentukan pin driver motor stepper
#define STEPPin 9
#define DIRPin 8
#define enablePin 7

#define MPU6050_ADDR 0x60

//inisialisasi sensor mpu6050
Adafruit_MPU6050 mpu;
//inisialisasi driver motor stepper
AccelStepper stepper(AccelStepper :: DRIVER, STEPPin, DIRPin);

const int stepsPerRevolution = 200;

void setup() {
  Wire.begin();
  mpu.begin(MPU6050_ADDR);
  
  //mengatur kecepatan dan akselarasi motor driver
  stepper.setMaxSpeed(1000);
  stepper.setAcceleration(100);

}

void loop() {
  //membaca data sensor mpu6050
  sensors_event_t a, g, event;
  mpu.getEvent(&a, &g, &event);
  int16_t ax, ay, az, gx, gy, gz;

  //gunakan data sensor untuk memngontrol pergerakan motor stepper
  int targetPos = map(ax, -32768, 32768, 0, 1000);

  stepper.move(targetPos);
  stepper.run();

}