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

Adafruit_MPU6050 mpu;

void setup() {
  Serial.begin(115200);
  while (!Serial)
    delay(10);

  Serial.println("Adafruit MPU6050 test");

  if (!mpu.begin()) {
    Serial.println("Failed to find MPU6050 chip");
    while (1) {
      delay(10);
    }
  }

  Serial.println("MPU6050 Found!");

  mpu.setAccelerometerRange(MPU6050_RANGE_8_G);
  Serial.println("Accelerometer range set to:");
  switch (mpu.getAccelerometerRange()) {
    case MPU6050_RANGE_2_G:
      Serial.println("+-2G");
      break;
    case MPU6050_RANGE_4_G:
      Serial.println("+-4G");
      break;
    case MPU6050_RANGE_8_G:
      Serial.println("+-8G");
      break;
    case MPU6050_RANGE_16_G:
      Serial.println("+-16G");
      break;
  }

  mpu.setGyroRange(MPU6050_RANGE_2000_DEG);
  Serial.print("Gyro range set to:");
  switch (mpu.getGyroRange()) {
    case MPU6050_RANGE_250_DEG:
      Serial.println("+-250 deg/s");
      break;
    case MPU6050_RANGE_500_DEG:
      Serial.println("+-500 deg/s");
      break;
    case MPU6050_RANGE_1000_DEG:
      Serial.println("+-1000 deg/s");
      break;
    case MPU6050_RANGE_2000_DEG:
      Serial.println("+-2000 deg/s");
      break;
  }

  mpu.setFilterBandwidth(MPU6050_BAND_21_HZ);
  Serial.print("Filter bandwidth set to:");
  switch (mpu.getFilterBandwidth()) {
    case MPU6050_BAND_260_HZ:
      Serial.println("260 HZ");
      break;
    case MPU6050_BAND_184_HZ:
      Serial.println("184 HZ");
      break;
    case MPU6050_BAND_94_HZ:
      Serial.println("94 HZ");
      break;
    case MPU6050_BAND_44_HZ:
      Serial.println("44 HZ");
      break;
    case MPU6050_BAND_21_HZ:
      Serial.println("21 HZ");
      break;
    case MPU6050_BAND_10_HZ:
      Serial.println("10 HZ");
      break;
    case MPU6050_BAND_5_HZ:
      Serial.println("5 HZ");
      break;
  }

  Serial.println("");
  delay(100);
}

void loop() {
  
  sensors_event_t a, g, temp;
  mpu.getEvent(&a, &g, &temp);

  
  Serial.print("Acceleration X:");
  Serial.print(a.acceleration.x);
  Serial.print(", Y:");
  Serial.print(a.acceleration.y);
  Serial.print(", Z:");
  Serial.print(a.acceleration.z);
  Serial.println(" m/s^2");

  Serial.print("Rotation X:");
  Serial.print(g.gyro.x);
  Serial.print(", Y:");
  Serial.print(g.gyro.y);
  Serial.print(", Z:");
  Serial.print(g.gyro.z);
  Serial.println(" rad/s");

  Serial.print("Temperature:");
  Serial.print(temp.temperature);
  Serial.println(" degC");

  Serial.println(" ");
  delay(500);
}