#include<Wire.h>

#include <SPI.h>

#define BLYNK_PRINT Serial

#include <Blynk.h>

#include <ESP8266WiFi.h>

#include <BlynkSimpleEsp8266.h>


#include <LiquidCrystal_I2C.h>

LiquidCrystal_I2C lcd(0x27,20,4);  // set the LCD address to 0x27 for a 16 chars and 2 line display

 

char auth[] = "xxxxxx";       // You should get Auth Token in the Blynk App new project from NODEMCU

// WiFi network Credentials

const char* ssid = "xxxxx"; // your SSID

const char* password = "xxxx";  //your WIFI Password

 

const int MPU_addr=0x68;

int16_t AcX,AcY,AcZ,Tmp,GyX,GyY,GyZ;

 

int minVal=265;

int maxVal=402;

 

double x;

double y;

double z;

 

void setup(){

Wire.begin();

Wire.beginTransmission(MPU_addr);

Wire.write(0x6B);

Wire.write(0);

Wire.endTransmission(true);

Serial.begin(9600);

Blynk.begin(auth, ssid, password);

 

lcd.init();                      // initialize the lcd 

  // Print a message to the LCD.

lcd.backlight();

 

}

void loop(){

Blynk.run();

Wire.beginTransmission(MPU_addr);

Wire.write(0x3B);

Wire.endTransmission(false);

Wire.requestFrom(MPU_addr,14,true);

AcX=Wire.read()<<8|Wire.read();

AcY=Wire.read()<<8|Wire.read();

AcZ=Wire.read()<<8|Wire.read();

int xAng = map(AcX,minVal,maxVal,-90,90);

int yAng = map(AcY,minVal,maxVal,-90,90);

int zAng = map(AcZ,minVal,maxVal,-90,90);

 

x= RAD_TO_DEG * (atan2(-yAng, -zAng)+PI);

y= RAD_TO_DEG * (atan2(-xAng, -zAng)+PI);

z= RAD_TO_DEG * (atan2(-yAng, -xAng)+PI);

 

Serial.print("AngleX= ");

Serial.println(x);

 

Serial.print("AngleY= ");

Serial.println(y);

 

Serial.print("AngleZ= ");

Serial.println(z);

Serial.println(" ***************");


lcd.setCursor(0,0);

lcd.print("3 Axis Angle Monitor");


lcd.setCursor(0,1);

lcd.print("X");

lcd.print((char)223);

lcd.print(": ");

lcd.print(x); 


lcd.setCursor(0,2);

lcd.print("Y");

lcd.print((char)223);

lcd.print(": ");

lcd.print(y);


lcd.setCursor(0,3);

lcd.print("Z");

lcd.print((char)223);

lcd.print(": ");

lcd.print(z); 


 

Blynk.virtualWrite(V1, x);

Blynk.virtualWrite(V2, y);

Blynk.virtualWrite(V3, z);

 

delay(1000);

}