#include <LiquidCrystal_I2C.h>
#include <MPU6050_tockn.h>
#include <Wire.h>

LiquidCrystal_I2C lcd(0x27,16,2);
MPU6050 mpu6050(Wire);
long timer = 0;

void setup() {
 Serial.begin(115200);
 Wire.begin();
 mpu6050.begin();
 mpu6050.calcGyroOffsets(true);
 lcd.init(); //Inicia pantalla
 lcd.backlight(); //Iluminacion led pantalla
 lcd.setCursor(0,0); //Cursor en posición 0,0 (columna,fila)
 lcd.print("accAngleX:"); //Dibujamos en esta posición
 lcd.setCursor(0,1);
 lcd.print("gyrAngleX:");
}
void loop() {
 mpu6050.update();
 if(millis() - timer > 1000){

 Serial.println("=======================================================");
 Serial.print("temp : ");Serial.println(mpu6050.getTemp());
 Serial.print("accX : ");Serial.print(mpu6050.getAccX());
 Serial.print("\taccY : ");Serial.print(mpu6050.getAccY());
 Serial.print("\taccZ : ");Serial.println(mpu6050.getAccZ());

 Serial.print("gyroX : ");Serial.print(mpu6050.getGyroX());
 Serial.print("\tgyroY : ");Serial.print(mpu6050.getGyroY());
 Serial.print("\tgyroZ : ");Serial.println(mpu6050.getGyroZ());

 Serial.print("accAngleX : ");Serial.print(mpu6050.getAccAngleX());
 Serial.print("\taccAngleY : ");Serial.println(mpu6050.getAccAngleY());

 Serial.print("gyroAngleX : ");Serial.print(mpu6050.getGyroAngleX());
 Serial.print("\tgyroAngleY : ");Serial.print(mpu6050.getGyroAngleY());
 Serial.print("\tgyroAngleZ : ");Serial.println(mpu6050.getGyroAngleZ());

 Serial.print("angleX : ");Serial.print(mpu6050.getAngleX());
 Serial.print("\tangleY : ");Serial.print(mpu6050.getAngleY());
 Serial.print("\tangleZ : ");Serial.println(mpu6050.getAngleZ());
 Serial.println("=======================================================\n");
 timer = millis();

 }
 lcd.setCursor(10,0);
 lcd.print(mpu6050.getAccAngleX()); //Escribimos valor del angulo x
 lcd.print("  ");

 lcd.setCursor(10,1);
 lcd.print(mpu6050.getGyroAngleX());
}