#include <Wire.h>
#include <ESP32Servo.h>
#include <LiquidCrystal.h>
LiquidCrystal lcd(15,4,5,18,19,21);
Servo servok;
const int mpu = 0x68;
int16_t x, y, z;
 float ax=0;
  float ay=0;
   float az=0;
   void valuemess(){
     Wire.beginTransmission(mpu);
       Wire.write(0x3B);
         Wire.endTransmission(false);
           Wire.requestFrom(mpu, 6, true);
             x = Wire.read() << 8 | Wire.read();
               y = Wire.read() << 8 | Wire.read();
                 z = Wire.read() << 8 | Wire.read();
                 }
                 void setup() {
                   servok.attach(32);
                     lcd.begin(16,2);
                       Wire.begin(13,22);
                         Serial.begin(115200);
                           Wire.beginTransmission(mpu);
                             Wire.write(0x6B);
                               Wire.write(0);
                                 Wire.endTransmission(true);
                                   Wire.beginTransmission(mpu);
                                     Wire.write(0x1C);
                                       Wire.write(0x08);
                                         Wire.endTransmission(true);
                                         }
                                         void loop() {
                                           float xv,yv,zv;
                                             valuemess();
                                               xv=x;
                                                 yv=y;
                                                   zv=z;
                                                     xv/=8192;
                                                       yv/=8192;
                                                         zv/=8192;
                                                           float pitchang = atan2(yv, zv) * 180.0 / PI;
                                                             float pitch=pitchang/1.416;
                                                               float rollang = atan2(xv, zv) * 180.0 / PI;
                                                                 float roll=rollang/1.416;
                                                                   servok.write(pitchang);
                                                                     Serial.print("pitch=");
                                                                       Serial.print(pitchang);
                                                                         Serial.print("||");
                                                                           Serial.print("roll=");
                                                                             Serial.println(rollang);
                                                                               Serial.print("x value =");
                                                                                 Serial.print(xv);
                                                                                   Serial.print("||");
                                                                                     Serial.print("y value =");
                                                                                       Serial.print(yv);
                                                                                         Serial.print("||");
                                                                                           Serial.print("z value =");
                                                                                             Serial.println(zv);
                                                                                               lcd.print("pitch=");
                                                                                                 lcd.print(pitchang);
                                                                                                   lcd.setCursor(0,1);
                                                                                                     lcd.print("roll=");
                                                                                                       lcd.print(rollang);
                                                                                                         delay(100);
                                                                                                           lcd.clear();

                                                                                                           }