--------< 자이오 센서에 따른 서보모터 동작 소스 코드 >------------------------------
#include "Wire.h"
#include "I2Cdev.h"
#include "MPU6050.h"
#include "Servo.h"
 
MPU6050 mpu;
 
int16_t ax, ay, az;
int16_t gx, gy, gz;
 
Servo myservo;
 
int val;
int prevVal;
 
void setup()
{
    Wire.begin();
    Serial.begin(38400);
 
    Serial.println("Initialize MPU");
    mpu.initialize();
    Serial.println(mpu.testConnection() ? "Connected" : "Connection failed");
    myservo.attach(9);
}
 
void loop()
{
    mpu.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);
 
    val = map(ay, -17000, 17000, 0, 179);
    if (val != prevVal)
    {
        myservo.write(val);
        prevVal = val;
    }
 
    delay(50);
}