#include <LiquidCrystal_I2C.h>
#include <Adafruit_MPU6050.h>
#include <Adafruit_Sensor.h>
#include <Wire.h>

Adafruit_MPU6050 mpu;
LiquidCrystal_I2C lcd(0x27, 16, 2);

void setup(void) {
	Serial.begin(115200);
	lcd.init();
  lcd.backlight();

	if (!mpu.begin()) {
		Serial.println("Не може да бъде намерено устройство MPU6050");
		while (1) {
		  delay(10);
		}
	}
	Serial.println("MPU6050 е свързано");

	mpu.setAccelerometerRange(MPU6050_RANGE_8_G);
	mpu.setGyroRange(MPU6050_RANGE_500_DEG);
	mpu.setFilterBandwidth(MPU6050_BAND_21_HZ);

	delay(100);
}

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

	lcd.setCursor(0, 0);
  lcd.print("Acceleration:");
	delay(1500);
	lcd.clear();

	lcd.setCursor(0, 0);
	lcd.print("X: ");
	lcd.print(a.acceleration.x);
	lcd.setCursor(0, 1);
	lcd.print("Y: ");
	lcd.print(a.acceleration.y);
	lcd.setCursor(8, 0);
	lcd.print("Z: ");
	lcd.print(a.acceleration.z);
	//lcd.println(" m/s^2");

	delay(1500);
	lcd.clear();
	lcd.setCursor(0, 0);
	lcd.print("Rotation:");
	delay(1500);
	lcd.clear();

	lcd.setCursor(0, 0);
	lcd.print("X: ");
	lcd.print(g.gyro.x);
	lcd.setCursor(0, 1);
	lcd.print("Y: ");
	lcd.print(g.gyro.y);
	lcd.setCursor(8, 0);
	lcd.print("Z: ");
	lcd.print(g.gyro.z);
	//lcd.println(" rad/s");

	delay(1500);
	lcd.clear();

	lcd.setCursor(0, 0);
	lcd.print("Temperature: ");
	lcd.setCursor(0, 1);
	lcd.print(temp.temperature);
	//lcd.println(" ᵒC");
	delay(1500);

	lcd.clear();
	delay(1500);
}