//Include Libraries: Use libraries for MPU6050 and LCD. For example:
#include <Wire.h>
#include <MPU6050.h>
#include <LiquidCrystal_I2C.h>

#define I2C_ADDR    0x27
#define LCD_COLUMNS 16
#define LCD_LINES   2
 
LiquidCrystal_I2C lcd(I2C_ADDR, LCD_COLUMNS, LCD_LINES);

//Initialize the Sensor and LCD:
MPU6050 mpu;
//LiquidCrystal lcd(12, 11, 10, 5, 4, 3);
 
//Setup Function: Initialize the sensor and LCD in the setup() function:
void setup() {
    //lcd.init();
    lcd.begin(16,2);  
    lcd.backlight();  
    lcd.setCursor(0, 0);  
    lcd.print("Hello, World!");  
delay(1000);
    Wire.begin();
    mpu.initialize();
    //lcd.begin(16, 2);
}
 
//Read and Calculate Angles: In the loop() function, read the accelerometer and gyroscope data, //calculate the angles, and display them:
void loop() {
    int16_t ax, ay, az, gx, gy, gz;
    mpu.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);
//    float angleX = atan2(ay, az) * 180 / PI;
//    float angleY = atan2(ax, az) * 180 / PI;
    float angleX = atan2(gy, gz) * 180 / PI;
    float angleY = atan2(gx, gz) * 180 / PI;
    lcd.clear();
    lcd.setCursor(0, 0);
    lcd.print("X: ");
    lcd.print(angleX);
    lcd.setCursor(0, 1);
    lcd.print("Y: ");
    lcd.print(angleY);
    delay(500);
}