File content as of revision 0:9dc7ab9daa11:

#include "mbed.h"
#include "MPU6050.h"
#include "C12832.h"

AnalogOut Aout(p18);
DigitalOut myled(LED1);
Serial pc(USBTX, USBRX);
MPU6050 mpu;
C12832 lcd(p5, p7, p6, p8, p11);
 
int16_t ax, ay, az;
int16_t gx, gy, gz;

float k=0.5;
float x=0;
float xout=0,xold=0;
float x_prev=0;
float sum =0;
float diff =0;
float gain_prop = 1;
float gain_int = 0.0066;
float gain_diff = 0.000028;

 
int main()
{
    lcd.printf("MPU6050 test\n\n");
    lcd.printf("MPU6050 initialize \n");
    
    mpu.initialize();
    
    pc.printf("MPU6050 testConnection \n");
 
    bool mpu6050TestResult = mpu.testConnection();
    if(mpu6050TestResult) {pc.printf("MPU6050 test passed \n");}
    else {pc.printf("MPU6050 test failed \n");}
    float proportional,integral=0;
    float prop=0;
    float xAcc = 0;
    unsigned char i;
    signed int Reading, xsum=0;
    lcd.cls();
    while(1)
    {
        mpu.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);
        //lcd.locate(0,15);
        //writing current accelerometer and gyro position
        for(i=1; i<5; i++)
        {
                Reading = ay;
                xsum += Reading;
        }
        xAcc=Reading*0.0001/4;
        //x=ay*0.0001;
        diff=gx*0.001;
        proportional = 1.0 + xAcc * 1.31;/*x*/
        prop = proportional/3.3;
        sum = sum +  xAcc ;/*x*/
        integral = sum;
        xout = prop*gain_prop + integral*gain_int + diff*gain_diff;
        xout=0.5*(xold) +(1-0.5)*xout;
        Aout=xout;
        xold=xout;
        
        
        //lcd.printf(" Xaxis :%.5f",proportional);

    }
}