#include <Wire.h>
#include <MPU6050.h>
#include <ESP32Servo.h>

MPU6050 mpu;
Servo servo;

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

  Wire.begin();
  mpu.initialize();

  servo.attach(18); 
}

void loop() {
  int16_t ax, ay, az;
  int16_t gx, gy, gz;

  mpu.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);

  Serial.print("Acceleration (m/s^2): ");
  Serial.print("X = "); Serial.print(ax);
  Serial.print(", Y = "); Serial.print(ay);
  Serial.print(", Z = "); Serial.println(az);

  Serial.print("Rotation (degrees/sec): ");
  Serial.print("X = "); Serial.print(gx);
  Serial.print(", Y = "); Serial.print(gy);
  Serial.print(", Z = "); Serial.println(gz);

  
  int servoPosition = map(ax, -90, 90, 0, 180); 

  servo.write(servoPosition);

  delay(1000); 
}