// Reading Accelerometer, Gyroscope & Temperature data from the MPU6050
// Include the necessary libraries
#include <Adafruit_MPU6050.h>
#include <Adafruit_Sensor.h>
#include <LiquidCrystal_I2C.h>
#include <Wire.h>

// define the LiquidCrystal constant

#define I2C_ADDR    0x27
#define LCD_COLUMNS 20
#define LCD_LINES   3

LiquidCrystal_I2C lcd(I2C_ADDR, LCD_COLUMNS, LCD_LINES);

// Create an object for the MPU6050 sensor
Adafruit_MPU6050 mpu;


void setup() {
  // put your setup code here, to run once:
  // Initialize the serial communication
  Serial.begin(9600);

  // Initialize the Liquid Cristal display
  
  lcd.init();
  lcd.backlight();

  // Check if the MPU6050 sensor is detected
  if (!mpu.begin()) {
    Serial.println("Failed to find MPU6050 chip");
    while(1) {
      delay(10);
    }
  }
  Serial.println("MPU Found! ");
  // Set accelerometer range to +-8G
  mpu.setAccelerometerRange(MPU6050_RANGE_8_G);
  
  // Set gyro range to +- 500 deg/sec
  mpu.setGyroRange(MPU6050_RANGE_500_DEG);

  // Set filter bandwidth to 21 Hz
  mpu.setFilterBandwidth(MPU6050_BAND_21_HZ);

  // Add a delay for stability
  delay(100);

}

void loop() {
  // put your main code here, to run repeatedly:
  //Get new sensor events with the readings
  sensors_event_t  a, g, temp;
  mpu.getEvent(&a, &g, &temp);



  // Display the acceleration readings in m/sˆ2
  lcd.setCursor(0, 0);
  lcd.print("Acceleration: (m/sˆ2) ");
  lcd.setCursor(0,1);
  lcd.print("X: ");
  lcd.print(a.acceleration.x);
  lcd.setCursor(0,2);
  lcd.print("Y: ");
  lcd.print(a.acceleration.y);
  lcd.setCursor(0,3);
  lcd.print("Z: ");
  lcd.print(a.acceleration.z);

  // Add a delay to avoid the display twinkle
  delay(1250);

// Initialize the Liquid Cristal display

  lcd.init();
  // Display the rotation readings in rad/s
  lcd.setCursor(0, 0);
  lcd.print("Rotation: (rad/s)");
  lcd.setCursor(0,1);
  lcd.print("X: ");
  lcd.print(g.gyro.x);
  lcd.setCursor(0,2);
  lcd.print("Y: ");
  lcd.print(g.gyro.y);
  lcd.setCursor(0,3);
  lcd.print("Z: ");
  lcd.print(g.gyro.z);
  lcd.println(" (rad/s)");


  // Add a delay to avoid flooding the serial monitor

  delay(1250);









}