#include <Wire.h>
#include <MPU6050.h>
#include <LiquidCrystal.h>
LiquidCrystal lcd(19, 23, 18, 17, 16, 15);
// Create an instance of the MPU6050 object
MPU6050 mpu;

// Variables to hold accelerometer and gyroscope data
int16_t ax, ay, az;
int16_t gx, gy, gz;
float ax1,ay1,az1;
float magnitude;

void setup() {
  // Start the serial communication for debugging
  Serial.begin(115200);

  // Initialize I2C communication
  Wire.begin();
  lcd.begin(16,2);


  // Initialize the MPU6050 sensor
  mpu.initialize();
  
  // Check if the MPU6050 is connected
  if (mpu.testConnection()) {
    Serial.println("MPU6050 is connected");
  } else {
    Serial.println("MPU6050 connection failed");
    while (1);
  }
}

void loop() {
  lcd.setCursor(0,0);

  // Read accelerometer and gyroscope values
  mpu.getAcceleration(&ax, &ay, &az);
  mpu.getRotation(&gx, &gy, &gz);
  
  // Print accelerometer values (in raw format)
  Serial.print("Accel X: ");
  Serial.print(ax);
  Serial.print("\tAccel Y: ");
  Serial.print(ay);
  Serial.print("\tAccel Z: ");
  Serial.println(az);
ax1= (float)ax/16384;
ay1= (float)ay/16384;
az1= (float)az/16384;
 
 magnitude = sqrt((ax1*ax1)+(ay1*ay1)+(az1*az1));
  // Print gyroscope values (in raw format)
  Serial.print("Gyro X: ");
  Serial.print(gx);
  Serial.print("\tGyro Y: ");
  Serial.print(gy);
  Serial.print("\tGyro Z: ");
  Serial.println(gz);
  Serial.print("magnitude value:");
  Serial.print(magnitude);
  if (magnitude>2.7){
    Serial.println("error");
    lcd.println("error");
  }
  else{
    lcd.println("good performance");
  }

  // Wait for 500ms
  delay(500);
}