#include <Wire.h>
#include <MPU6050.h>
#include <Servo.h>
#include <RTClib.h>

MPU6050 gyro;
Servo servoMotor;
RTC_DS3231 rtc;

void setup() {
  Serial.begin(9600);
  Wire.begin();
  
  gyro.initialize();
  servoMotor.attach(9); // Adjust the pin for your servo motor
  
  // Check sensor connections
  Serial.println(gyro.testConnection() ? "Gyroscope connection successful" : "Failed to connect to the gyroscope");
  delay(1000);
}

void loop() {
  int16_t ax, ay, az, gx, gy, gz;

  // Read data from the gyroscope
  gyro.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);

  // Control the servo based on gyroscope data
  int servoPosition = map(gx, -32768, 32767, 0, 180); // Adjust the range as needed
  servoMotor.write(servoPosition);

  // Display data on Serial Monitor
  Serial.println("Gyroscope (deg/s):");
  Serial.print("X="); Serial.print(gx); Serial.print("\t");
  Serial.print("Y="); Serial.print(gy); Serial.print("\t");
  Serial.print("Z="); Serial.println(gz);

  Serial.println("Accelerometer (g):");
  Serial.print("X="); Serial.print(ax); Serial.print("\t");
  Serial.print("Y="); Serial.print(ay); Serial.print("\t");
  Serial.print("Z="); Serial.println(az);

  delay(1000);  // Delay to avoid too rapid data readings
}