#include <MPU6050_tockn.h>
#include <Wire.h>

MPU6050 mpu6050(Wire);
long timer = 0;

const int pTrig = 9;
const int pEcho = 10;
void setup() {
  // put your setup code here, to run once:

Serial.begin(9600);
 Wire.begin();
  mpu6050.begin();
  mpu6050.calcGyroOffsets(true);
pinMode(pTrig, OUTPUT);
pinMode(pEcho, INPUT);

}

long duration = 0;

void loop() {
// put your main code here, to run repeatedly:
digitalWrite(pTrig, HIGH);
delayMicroseconds(10);
digitalWrite(pTrig, LOW);
duration = pulseIn(pEcho, HIGH);
Serial.print("Duration: ");
Serial.print(duration);
Serial.print(", Distance: ");
Serial.println((duration *0.034)/2);
delay(1000);

 mpu6050.update();

  if(millis() - timer > 1000){
    
    Serial.println("=======================================================");
    Serial.print("temp : ");Serial.println(mpu6050.getTemp());
    Serial.print("accX : ");Serial.print(mpu6050.getAccX());
    Serial.print("	accY : ");Serial.print(mpu6050.getAccY());
    Serial.print("	accZ : ");Serial.println(mpu6050.getAccZ());
  
    Serial.print("gyroX : ");Serial.print(mpu6050.getGyroX());
    Serial.print("	gyroY : ");Serial.print(mpu6050.getGyroY());
    Serial.print("	gyroZ : ");Serial.println(mpu6050.getGyroZ());
  
    Serial.print("accAngleX : ");Serial.print(mpu6050.getAccAngleX());
    Serial.print("	accAngleY : ");Serial.println(mpu6050.getAccAngleY());
  
    Serial.print("gyroAngleX : ");Serial.print(mpu6050.getGyroAngleX());
    Serial.print("	gyroAngleY : ");Serial.print(mpu6050.getGyroAngleY());
    Serial.print("	gyroAngleZ : ");Serial.println(mpu6050.getGyroAngleZ());
    
    Serial.print("angleX : ");Serial.print(mpu6050.getAngleX());
    Serial.print("	angleY : ");Serial.print(mpu6050.getAngleY());
    Serial.print("	angleZ : ");Serial.println(mpu6050.getAngleZ());
    Serial.println("===============================");
    timer = millis();
    
  }

}