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

LiquidCrystal lcd(12, 11, 10, 9, 8, 7);

Adafruit_MPU6050 mpu;

void setup() {
  Serial.begin(115200);

  lcd.begin(16, 2);
  lcd.print("Hello World!");

  while (!mpu.begin()) {
    Serial.println("MPU6050 not connected!");
    delay(1000);
  }
  Serial.println("MPU6050 ready!");

  mpu.setAccelerometerRange(MPU6050_RANGE_16_G);
  mpu.setGyroRange(MPU6050_RANGE_250_DEG);
  mpu.setFilterBandwidth(MPU6050_BAND_21_HZ);
  Serial.println("");
  delay(100);
}

sensors_event_t event;

void loop() {
  sensors_event_t a, g, temp;
  mpu.getEvent(&a, &g, &temp);

  lcd.clear();

  Serial.print("X: ");
  Serial.print(a.acceleration.x);
  Serial.print(",");
  Serial.print(" Y: ");
  Serial.print(a.acceleration.y);
  Serial.print(",");
  Serial.print(" Z: ");
  Serial.print(a.acceleration.z);
  Serial.println(";");
  Serial.print("gX: ");
  Serial.print(g.gyro.x);
  Serial.print(",");
  Serial.print(" gY: ");
  Serial.print(g.gyro.y);
  Serial.print(",");
  Serial.print(" gZ: ");
  Serial.print(g.gyro.z);
  Serial.println("");
  Serial.print("T: ");
  Serial.print(temp.temperature);
  Serial.println(" degC");

  lcd.setCursor(0, 0);
  lcd.print("X: ");
  lcd.print(a.acceleration.x);
  lcd.setCursor(9, 0);
  lcd.print("Y: ");
  lcd.print(a.acceleration.y);
  lcd.setCursor(0, 1);
  lcd.print("Z: ");
  lcd.print(a.acceleration.z);

  delay(500);
}