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

Adafruit_MPU6050 mpu;

float stepmax = 600; // Define maximum steps per revolution for stepper motor
Stepper myStepper(stepmax, 12, 14, 27, 26); // Initialize Stepper library with pins 12, 14, 27, 26

void setup(void) {
  Serial.begin(115200); // Start serial communication at 115200 baud rate
  myStepper.setSpeed(30); // Set the speed of the motor in RPM
  
  // Initialize MPU6050 sensor
  if (!mpu.begin()) {
    Serial.println("Failed to find MPU6050 chip");
    while (1) { // Loop if initializtion fails
      delay(10); 
    }
  }

  // Configure MPU6050 settings for accelerometer and gyro range, and filter bandwidth
  mpu.setAccelerometerRange(MPU6050_RANGE_8_G);
  mpu.setGyroRange(MPU6050_RANGE_250_DEG);
  mpu.setFilterBandwidth(MPU6050_BAND_21_HZ);
  Serial.println("MPU6050 initialization successful");

  delay(1000); // Short delay for calibration
}

void loop() {
  // Variables to hold sensor event data
  sensors_event_t a, g, temp;
  mpu.getEvent(&a, &g, &temp); // Fetch the latest data from the MPU6050 sensor

  // Print accelerometer values to the Serial Monitor
  Serial.print("Accelerometer: X: ");
  Serial.print(a.acceleration.x);
  Serial.print(" Y: ");
  Serial.print(a.acceleration.y);
  Serial.print(" Z: ");
  Serial.println(a.acceleration.z);

  // Print gyroscope values to the Serial Monitor
  Serial.print("Gyroscope: X: ");
  Serial.print(g.gyro.x);
  Serial.print(" Y: ");
  Serial.print(g.gyro.y);
  Serial.print(" Z: ");
  Serial.println(g.gyro.z);

  int steps = 10; // Define a fixed number of steps for demo
  if (g.gyro.x > 0) {
    // If gyroscope X-axis reading is positive, rotate the stepper motor in one direction
    myStepper.step(steps);
    Serial.println("Moving FORWARD"); // Indicate movement direction
  } else if (g.gyro.x < 0) {
    // If gyroscope X-axis reading is negative, rotate the stepper motor in the opposite direction
    myStepper.step(-steps);
    Serial.println("Moving BACKWARD"); // Indicate movement direction
  }
 
  delay(100); 
}