#include <Wire.h>
#include <Adafruit_Sensor.h>
#include <Adafruit_MPU6050.h>
#include <ESP32Servo.h>

Adafruit_MPU6050 mpu;
Servo myServo;

void setup() {
  Serial.begin(115200);
  Wire.begin();
  
  if (!mpu.begin()) {
    Serial.println("Failed to find MPU6050 chip");
    while (1) {
      delay(10);
    }
  }
  Serial.println("MPU6050 Found!");
  
  myServo.attach(16); 
}

void loop() {
  sensors_event_t accel, gyro, temp;
  mpu.getEvent(&accel, &gyro, &temp);

  
  float angleX = map(accel.acceleration.x, -90, 90, 0, 180);
  angleX = constrain(angleX, 0, 180); 
 
  myServo.write(angleX);

  
  Serial.print("X: ");
  Serial.print(accel.acceleration.x);
  Serial.print(", Y: ");
  Serial.print(accel.acceleration.y);
  Serial.print(", Z: ");
  Serial.print(accel.acceleration.z);
  Serial.print(", AngleX: ");
  Serial.println(angleX);

  delay(100); 
}