Gyro-Arduino-Uno-Final-code

#include "I2Cdev.h"
#include "MPU6050.h"

#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
#include "Wire.h"
#endif

MPU6050 accelgyro;


int16_t ax, ay, az;
int16_t gx, gy, gz;


#define leftLED 2
#define rightLED 6
#define frontLED 9
#define backLED 5

#define OUTPUT_READABLE_ACCELGYRO


#define LED_PIN 13
bool blinkState = false;

void setup() {

  pinMode(leftLED, OUTPUT);
  pinMode(rightLED, OUTPUT);
  pinMode(frontLED, OUTPUT);
  pinMode(backLED, OUTPUT);

  digitalWrite(leftLED, 0);
  digitalWrite(rightLED, 0);
  digitalWrite(backLED, 0);
  digitalWrite(frontLED, 0);

  // join I2C bus (I2Cdev library doesn't do this automatically)
#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
  Wire.begin();
#elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE
  Fastwire::setup(400, true);
#endif

  // initialize serial communication
  // (38400 chosen because it works as well at 8MHz as it does at 16MHz, but
  // it's really up to you depending on your project)
  Serial.begin(38400);

  // initialize device
  Serial.println("Initializing I2C devices...");
  accelgyro.initialize();

  // verify connection
  Serial.println("Testing device connections...");
  Serial.println(accelgyro.testConnection() ? "MPU6050 connection successful" : "MPU6050 connection failed");

  // configure Arduino LED pin for output
  pinMode(LED_PIN, OUTPUT);
}

void loop() {
  // read raw accel/gyro measurements from device
  accelgyro.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);

#ifdef OUTPUT_READABLE_ACCELGYRO
  // display tab-separated accel/gyro x/y/z values
  Serial.print("a/g:\t");
  Serial.print(ax); Serial.print("\t");
  Serial.print(ay); Serial.print("\t");
  Serial.println(az); Serial.print("\t");
#endif

#ifdef OUTPUT_BINARY_ACCELGYRO
  Serial.write((uint8_t)(ax >> 8)); Serial.write((uint8_t)(ax & 0xFF));
  Serial.write((uint8_t)(ay >> 8)); Serial.write((uint8_t)(ay & 0xFF));
  Serial.write((uint8_t)(az >> 8)); Serial.write((uint8_t)(az & 0xFF));
#endif

  // blink LED to indicate activity
  blinkState = !blinkState;
  digitalWrite(LED_PIN, blinkState);
  if (ax < 700 && ay < -1000) {
    digitalWrite(leftLED, 1);
    digitalWrite(rightLED, 0);
    digitalWrite(frontLED, 0);
    digitalWrite(backLED, 0);
  }
  else if (ax < 700 && ay > 1000) {
    digitalWrite(leftLED, 0);
    digitalWrite(rightLED, 1);
    digitalWrite(frontLED, 0);
    digitalWrite(backLED, 0);
  }

  else if (ax > 1000 && ay < 700) {
    digitalWrite(leftLED, 0);
    digitalWrite(rightLED, 0);
    digitalWrite(frontLED, 1);
    digitalWrite(backLED, 0);
  }

  else if (ax < -1000 && ay  < 700) {
    digitalWrite(leftLED, 0);
    digitalWrite(rightLED, 0);
    digitalWrite(frontLED, 0);
    digitalWrite(backLED, 1);
  }
  else {
    digitalWrite(leftLED, 0);
    digitalWrite(rightLED, 0);
    digitalWrite(frontLED, 0);
    digitalWrite(backLED, 0);
  }

  delay(100);
}