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

LiquidCrystal lcd(12, 11, 4, 5, 6, 7);

MPU6050 mpu6050(Wire);

Servo servo1;
Servo servo2;

int potPin1 = A0;
int potPin2 = A1;

int servo1Pin = 9;
int servo2Pin = 10;

void setup() {
  lcd.begin(16, 2);
  lcd.print("Gyro Reading:");
  
  Wire.begin();
  mpu6050.begin();
  mpu6050.calcGyroOffsets();

  servo1.attach(servo1Pin);
  servo2.attach(servo2Pin);
}

void loop() {
  mpu6050.update();

  float gyroX = mpu6050.getGyroX();
  float gyroY = mpu6050.getGyroY();
  float gyroZ = mpu6050.getGyroZ();
  
  lcd.setCursor(0, 1);
  lcd.print("X:");
  lcd.print(gyroX);
  lcd.print(" Y:");
  lcd.print(gyroY);
  lcd.print(" Z:");
  lcd.print(gyroZ);

//first servo
  int potValue = analogRead(potPin1);
  int servo1Angle = map(potValue, 0, 1023, 0,90);
  servo1.write(servo1Angle); 
 
//second servo

  int potValue2 = analogRead(potPin2);
  int servo2Angle2 = map(potValue2, 0, 1023, 180, 90);
  servo2.write(servo2Angle2);
  
}