#include <Wire.h>
#include <MPU6050.h>

MPU6050 mpu;

int ledLeft = 7;  // Define the pin for the left LED
int ledRight = 8; // Define the pin for the right LED

int16_t gyroX, gyroY, gyroZ;
int16_t threshold = 5000; // Adjust this threshold value to suit your needs

int turnDirection = 0; // 0 for no turn, 1 for left, -1 for right
unsigned long lastTurnTime = 0;
unsigned long turnDelay = 2000; // Adjust this delay as needed (in milliseconds)

void setup() {
  Wire.begin();
  mpu.initialize();
  pinMode(ledLeft, OUTPUT);
  pinMode(ledRight, OUTPUT);
  Serial.begin(9600);
}

void loop() {
  mpu.getRotation(&gyroX, &gyroY, &gyroZ);
  unsigned long currentTime = millis();

  if (abs(gyroX) > threshold) {
    if (gyroX > 0 && turnDirection != 1) {
      // Gyro rotation to the right
      if (currentTime - lastTurnTime > turnDelay) {
        digitalWrite(ledRight, HIGH);
        digitalWrite(ledLeft, LOW);
        turnDirection = -1;
        lastTurnTime = currentTime;
      }
    } else if (gyroX < 0 && turnDirection != -1) {
      // Gyro rotation to the left
      if (currentTime - lastTurnTime > turnDelay) {
        digitalWrite(ledLeft, HIGH);
        digitalWrite(ledRight, LOW);
        turnDirection = 1;
        lastTurnTime = currentTime;
      }
    }
  } else {
    turnDirection = 0; // No turn
    digitalWrite(ledLeft, LOW);
    digitalWrite(ledRight, LOW);
  }

  // Print gyro values for debugging
  Serial.print("X-axis: ");
  Serial.println(gyroX);

  delay(10); // Adjust this delay as needed
}