#include <Wire.h>
#include <Adafruit_LSM6DS33.h>
#include <Adafruit_Sensor.h>

Adafruit_LSM6DS33 lsm6ds;

void setup() {
  Serial.begin(115200);
  while (!Serial);

  if (!lsm6ds.begin_I2C()) {
    Serial.println("LSM6DS33 not found");
    while (1);
  }

  Serial.println("LSM6DS33 ready");
}

void loop() {

  sensors_event_t accel;
  sensors_event_t gyro;
  sensors_event_t temp;

  lsm6ds.getEvent(&accel, &gyro, &temp);

  float ax = accel.acceleration.x;
  float ay = accel.acceleration.y;
  float az = accel.acceleration.z;

  // Calculate roll and pitch
  float roll  = atan2(ay, az) * 180.0 / PI;
  float pitch = atan2(-ax, sqrt(ay * ay + az * az)) * 180.0 / PI;

  Serial.print("Roll: ");
  Serial.print(roll);
  Serial.print("   Pitch: ");
  Serial.println(pitch);

  delay(1500);
}