from machine import I2C, Pin, PWM
import time

buzzer = PWM(Pin(16))
buzzer.freq(300)

class MPU6050:
    def __init__(self, i2c, address=0x68):
        self.i2c = i2c
        self.address = address
        self.init()

    def init(self):
        self.i2c.writeto_mem(self.address, 0x6B, b'\x00')

    def read_raw_data(self, reg):
        high = self.i2c.readfrom_mem(self.address, reg, 1)
        low = self.i2c.readfrom_mem(self.address, reg + 1, 1)
        value = (high[0] << 8) + low[0]
        if value > 32767:
            value -= 65536
        return value

    def get_accel_data(self):
        ax = self.read_raw_data(0x3B)
        ay = self.read_raw_data(0x3D)
        az = self.read_raw_data(0x3F)
        return ax, ay, az

    def get_gyro_data(self):
        gx = self.read_raw_data(0x43)
        gy = self.read_raw_data(0x45)
        gz = self.read_raw_data(0x47)
        return gx, gy, gz

i2c = I2C(0, scl=Pin(1), sda=Pin(0))
mpu = MPU6050(i2c)

while True:
    ax, ay, az = mpu.get_accel_data()
    gx, gy, gz = mpu.get_gyro_data()
    if gx < -20000 and not ax < -20000:
        buzzer.duty_u16(60000)
    elif gx > 20000 and not ax > 20000:
        buzzer.duty_u16(60000)
    else:
        buzzer.duty_u16(0)
    print('Accelerometer:', ax, ay, az)
    print('Gyroscope:', gx, gy, gz)
    time.sleep(0.3)