/*
 Voltaat learn (http://learn.voltaat.com/)
 Link for full tutorial:
 Wire library:
 MPU6050 library:

 Tutorial: Measure titling using MPU6050

 The purpose of this sketch is to get readings from the MPU6050 sensor
 and print this data directly on your computer.

 Connections from the Arduino to the MPU6050:
 • Arduino 5V pin → MPU6050 VCC pin (+ pin)
 • Arduino GND pin → MPU6050 GND pin (- pin)
 • Arduino pin 5 → MPU6050 SCL pin
 • Arduino pin 4 → MPU6050 SDA pin

*/

//Include MPU6050 Library
#include "MPU6050_tockn.h"
//This library allows you to connect with I2C/TWI devices
#include "Wire.h"

MPU6050 mpu6050(Wire);

//Define variable
long timer = 0;

//Commands inside void setup run once
void setup() {
 //Start the serial monitor at 19200 baud rate (19200 bits per second)
 Serial.begin(9600);
 //This function initializes the Wire library and join the I2C bus as a controller or a peripheral
 Wire.begin();
 //This function initializes the MPU6050 library
 mpu6050.begin();
 //See state of calculating calibration in serial monitor
 mpu6050.calcGyroOffsets(true);
}

//Commands inside void loop run forever
void loop() {
 //Get all data of MPU6050
 mpu6050.update();

 if (millis() - timer > 1000) {
   //Print data to serial monitor
   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();

 }

}