#include <Wire.h>
#include <MPU6050.h>
#include <Servo.h>
Servo sg90_x;
Servo sg90_y;
int servo_x = 2;
int servo_y = 10;
MPU6050 sensor ;
int16_t ax, ay, az ;
int16_t gx, gy, gz ;
double Setpoint;
void setup ( )
{
Setpoint = 90;
sg90_x.attach (servo_x);
sg90_y.attach (servo_y);
sg90_x.write(Setpoint);
sg90_y.write(Setpoint);
Wire.begin( );
Serial.begin (9600);
Serial.println ( "Initializing the sensor" );
sensor.initialize ( );
Serial.println (sensor.testConnection ( ) ? "Successfully Connected" : "Connection failed");
delay (100);
}
void loop ( )
{
sensor.getMotion6 (&ax, &ay, &az, &gx, &gy, &gz);
x_out = map(ax, -17000, 17000, 180, 0); //mapped in reverse order to get a counteractive movement.
y)out = map(ay, -17000, 17000, 180, 0);
sg90_x.write(x_out);
sg90_y.write(y_out);