#include <Adafruit_MPU6050.h>  // https://github.com/adafruit/Adafruit_MPU6050
#include <Adafruit_Sensor.h>   // https://github.com/adafruit/Adafruit_Sensor
Adafruit_MPU6050 mpu;          // create MPU object

#include <Servo.h>  // https://github.com/arduino-libraries/Servo
Servo xservo;       // create Servo object
Servo yservo;
byte xservopin = 5;  // servo PWM pin
byte yservopin = 2;

void setup(void) {
  xservo.attach(xservopin);  // attach servo object to pin
  yservo.attach(yservopin);

  mpu.begin();
  mpu.setAccelerometerRange(MPU6050_RANGE_8_G);  // 2, 4, 8, 16
  mpu.setGyroRange(MPU6050_RANGE_500_DEG);       // 250, 500, 1000, 2000
  mpu.setFilterBandwidth(MPU6050_BAND_5_HZ);     // 260, 184, 94, 44, 21, 10, 5
}

void loop() {
  sensors_event_t a, g, temp;   // declare variables
  mpu.getEvent(&a, &g, &temp);  // retreive data from MPU

  float x = a.acceleration.x;
  float y = a.acceleration.y;

  xservo.write(map(x, -20, 20, 0, 180));  // map acceleration range to servo range
  yservo.write(map(y, -20, 20, 0, 180));

  delay(100);
}