#include <Adafruit_MPU6050.h>
#include <Adafruit_Sensor.h>
#include <LiquidCrystal.h>

Adafruit_MPU6050 mpu;
float fall_vel;
const int rs = 12, en = 11, d4 = 5, d5 = 4, d6 = 3, d7 = 2;
LiquidCrystal lcd(rs, en, d4, d5, d6, d7);
void setup() {
  // put your setup code here, to run once:
  Serial.begin(115200);
  lcd.begin(16,2);
  if(!mpu.begin()){
    Serial.println("failed to initialize mpu");
    while(1){
      delay(10);
    }
  }
  Serial.println("MPU found");
  mpu.setAccelerometerRange(MPU6050_RANGE_8_G);
  mpu.setGyroRange(MPU6050_RANGE_500_DEG);
  mpu.setFilterBandwidth(MPU6050_BAND_21_HZ);
  delay(100);
}
int t=0;
void loop() {
  // put your main code here, to run repeatedly:
  sensors_event_t a,g,temp;
  mpu.getEvent(&a,&g,&temp);
  Serial.println(a.acceleration.y);
  float acc=a.acceleration.y;
  fall_vel=acc*t;
  lcd.setCursor(0,1);
  lcd.print(fall_vel);
  delay(1000);
  t++;
}