#include <Wire.h>
#include <Servo.h>

Servo servo;
Servo servo2;
Servo servo3;
Servo servo4;

int angle;
int angel2;
int angle3;
int yangle = 0;
int xangle = 0;

const int MPU_addr=0x68;
int16_t AcX,AcY,AcZ,Tmp,GyX,GyY,GyZ;

void setup() {
  // put your setup code here, to run once:
  Wire.begin();
  Wire.beginTransmission(MPU_addr);
  Wire.write(0x6B);
  Wire.write(0);
  Wire.endTransmission(true);
  servo.attach(9);
  servo2.attach(10);
  servo3.attach(7);

}

void loop() {
  // put your main code here, to run repeatedly:
  Wire.beginTransmission(MPU_addr);
  Wire.write(0x3B);
  Wire.endTransmission(false);
  Wire.requestFrom(MPU_addr,14,true);

  AcY=Wire.read()<<8|Wire.read();
  yangle = AcY/182.04;

  AcX=Wire.read()<<8|Wire.read();
  xangle =AcX/182.04;

  servo3.write(xangle + 90);

  servo.write(yangle + 90);
  servo2.write(90 - yangle);

}