#include <LiquidCrystal_I2C.h>
#include <Adafruit_MPU6050.h>
#include <Adafruit_Sensor.h>
#include <Wire.h>

Adafruit_MPU6050 mpu;

#define I2C_ADDR    0x27
#define LCD_COLUMNS 20
#define LCD_LINES   4

LiquidCrystal_I2C lcd(I2C_ADDR, LCD_COLUMNS, LCD_LINES);

const float rad = 180/3.14159265359;

void setup() {
  lcd.init();
  lcd.backlight();
  lcd.setCursor(8, 1);
  lcd.print("AXEL");
  lcd.setCursor(0, 3);
  lcd.print("By: Arkan Asadil H");
  delay(500);
  lcd.clear();
  while (!mpu.begin()) {
    lcd.setCursor(0, 0);
    lcd.print("MPU6050 not ready!");
    lcd.setCursor(0, 1);
    lcd.print(millis()/1000);
    lcd.print(" Sec");
    delay(1000);
  }
  mpu.setAccelerometerRange(MPU6050_RANGE_16_G);
  mpu.setGyroRange(MPU6050_RANGE_250_DEG);
  mpu.setFilterBandwidth(MPU6050_BAND_21_HZ);
  lcd.println("MPU6050 ready!");
  lcd.setCursor(0, 1);
  lcd.println("Fliter BW 21Hz");
  lcd.setCursor(0, 2);
  lcd.println("Gyro range 250DEG");
  delay(100);
  lcd.clear();
}

void loop() {
  sensors_event_t a, g, temp;
  mpu.getEvent(&a, &g, &temp);
  //Acceleration in g constant
  //Gyro in Degrees
  //Accel cannot be divided using variable
  /* error: no match for 'operator/'
  (operand types are 'float' and 'sensors_event_t') */

  lcd.setCursor(0, 0);
  lcd.print("X:");
  lcd.print(a.acceleration.x/9.81);
  lcd.print(" R:");
  lcd.println(g.gyro.x*rad);
  lcd.setCursor(0, 1);
  lcd.print("Y:");
  lcd.print(a.acceleration.y/9.81);
  lcd.print(" P:");
  lcd.println(g.gyro.y*rad);
  lcd.setCursor(0, 2);
  lcd.print("Z:");
  lcd.print(a.acceleration.z/9.81);
  lcd.print(" Y:");
  lcd.println(g.gyro.z*rad);
  lcd.setCursor(0, 3);
  lcd.print(millis() % 1000);
  lcd.print(" millis");
  lcd.print(" T:");
  lcd.println(temp.temperature);
  delay(10);
}