#include <Wire.h>
#include <SPI.h>
#include <Adafruit_LSM9DS1.h>
#include <Adafruit_Sensor.h>
#include <LiquidCrystal_I2C.h>

LiquidCrystal_I2C lcd(0x27, 16, 2);
Adafruit_LSM9DS1 lsm = Adafruit_LSM9DS1();

sensors_event_t a, m, g, temp;

void setupSensor()
{
  // 1.) Set the accelerometer range
  lsm.setupAccel(lsm.LSM9DS1_ACCELRANGE_2G);
  //lsm.setupAccel(lsm.LSM9DS1_ACCELRANGE_4G);
  //lsm.setupAccel(lsm.LSM9DS1_ACCELRANGE_8G);
  //lsm.setupAccel(lsm.LSM9DS1_ACCELRANGE_16G);
  
  // 2.) Set the magnetometer sensitivity
  //lsm.setupMag(lsm.LSM9DS1_MAGGAIN_4GAUSS);
  lsm.setupMag(lsm.LSM9DS1_MAGGAIN_8GAUSS);
  //lsm.setupMag(lsm.LSM9DS1_MAGGAIN_12GAUSS);
  //lsm.setupMag(lsm.LSM9DS1_MAGGAIN_16GAUSS);

  // 3.) Setup the gyroscope
  lsm.setupGyro(lsm.LSM9DS1_GYROSCALE_245DPS);
  //lsm.setupGyro(lsm.LSM9DS1_GYROSCALE_500DPS);
  //lsm.setupGyro(lsm.LSM9DS1_GYROSCALE_2000DPS);
}

void setup() {
  Serial.begin(9600);
  while (!Serial) {
    delay(1); // will pause Zero, Leonardo, etc until serial console opens
  }
  
  Serial.println("LSM9DS1 data read demo");
  
  // Try to initialise and warn if we couldn't detect the chip
  if (!lsm.begin())
  {
    Serial.println("Oops ... unable to initialize the LSM9DS1. Check your wiring!");
    while (1);
  }
  Serial.println("Found LSM9DS1 9DOF");
  setupSensor();
  lcd.init();
  lcd.backlight();
}

void loop() {
  lsm.read();
  lsm.getEvent(&a, &m, &g, &temp);

  lcd.setCursor(0, 0);
  lcd.print("Om X: ");
  lcd.setCursor(5, 0);
  lcd.print(g.gyro.x);
  Serial.print(g.gyro.x);
  lcd.setCursor(10,0);
  lcd.print(" rad/s");

  lcd.setCursor(0,1);
  lcd.print("Om Z: ");
  lcd.setCursor(5, 1);
  lcd.print(g.gyro.y);
  lcd.setCursor(10,1);
  lcd.print(" rad/s");
  delay(500);
  }