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

MPU6050 mpu;
const int stepsPerRevolution = 200;
Stepper myStepper(stepsPerRevolution, 8, 9, 10, 11);
int stepCount = 0;

void setup() {
  Serial.begin(9600);

  Wire.begin();
  if (!mpu.testConnection()) {
    Serial.println("MPU6050 connection failed. Please check wiring and I2C address.");
    while (1);
  }

  mpu.initialize();
  mpu.setFullScaleAccelRange(MPU6050_ACCEL_FS_2);
  mpu.setFullScaleGyroRange(MPU6050_GYRO_FS_250);
}

void loop() {
  int16_t ax, ay, az, gx, gy, gz;
  mpu.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);

  Serial.print("Accelerometer: ");
  Serial.print(ax);
  Serial.print(", ");
  Serial.print(ay);
  Serial.print(", ");
  Serial.print(az);
  Serial.print(" | Gyroscope: ");
  Serial.print(gx);
  Serial.print(", ");
  Serial.print(gy);
  Serial.print(", ");
  Serial.println(gz);

  myStepper.step(1);
  Serial.print("Steps: ");
  Serial.println(stepCount);
  stepCount++;
  delay(1000);
}