#include "GY521.h" //Import the GY521 library

GY521 sensor(0x68); //define a GY521 device "sensor" at 0x68

struct Vector3{ 
  float x;
  float y;
  float z;
}; //define a data structure called vector 3 that holds floats x y and z

void setup() {
  // put your setup code here, to run once:
  Serial.begin(115200); 
  Wire.begin();
    if (sensor.wakeup()) {
    Serial.println("Sensor initialized successfully.");
  } else {
    Serial.println("Failed to initialize the sensor.");
    while (1);  // Halt the program if initialization fails.
  }
  sensor.setAccelSensitivity(2);  //  8g
  sensor.setGyroSensitivity(1);   //  500 degrees/s
  sensor.setThrottle();
  sensor.axe = 0;
  sensor.aye = 0;
  sensor.aze = 0;
  sensor.gxe = 0;
  sensor.gye = 0;
  sensor.gze = 0; 
  //Initialize the sensor and the serial monitor
  delay (1000);
}

void loop() {
  OutputSensorData(); //Read Sensor Data and print it to serial monitor
  delay(200); //do this 5 times every second
}

Vector3 ReadSensorAngle() {
sensor.read();
return Vector3{sensor.getAngleX(),sensor.getAngleY(),sensor.getAngleZ()};
} //return the sensor's rotational speeds in the x,y, and z directions

Vector3 ReadSensorAccel() {
sensor.read();
return Vector3{sensor.getAccelX(),sensor.getAccelY(),sensor.getAccelZ()};
} //return the sensor's acceleration in the x,y, and z directions

void OutputSensorData() {
  Serial.print("Sensor Angle is: (");
  Serial.print(ReadSensorAngle().x);
  Serial.print(" ");
  Serial.print(ReadSensorAngle().y);
  Serial.print(" ");
  Serial.print(ReadSensorAngle().z);
  Serial.print(")  ");
  //print "Sensor Angle is: (x,y,z)"

  Serial.print("Sensor Acceleration is: (");
  Serial.print(ReadSensorAccel().x);
  Serial.print(" ");
  Serial.print(ReadSensorAccel().y);
  Serial.print(" ");
  Serial.print(ReadSensorAccel().z);
  Serial.print(")  ");
  //print "Sensor Acceleration is: (x,y,z)"

  Serial.print("Current Temp is: ");
  Serial.print(sensor.getTemperature());
  Serial.println("°C");
  //print sensor temperature in degrees celcius

  Serial.println(""); //print a fresh line
  }