#ifndef IMU_h
#define IMU_h

#include <MPU6050_tockn.h>

#define UPDATE_IMU_INTERVAL 1000/50

#define IMU_AC 0.1f //default 0.02f
#define IMU_GC 0.90f //default 0.98f. //AC + GC must equal 1.0



void initIMU();
void initIMU(float x,float y,float z);
void loopIMU(unsigned long millis);
bool isBellyUp();

float getAngleX();
float getAngleY();
float getAngleZ();

float getAccX();
float getAccY();
float getAccZ();

float getGyroAngleX();
float getGyroAngleY();
float getGyroAngleZ();



#endif