Code.ino

#include <SPI.h>
#include <Wire.h>
#include <Servo.h>
#define MPU 0x68  

Servo ServoX, ServoY;
double AcX,AcY,AcZ;
int Pitch, Roll;

void setup(){
  //Serial.begin(9600);
  ServoX.attach(3);
  init_MPU(); 
}
 
void loop()
{
  FunctionsMPU(); 
    
  Roll = FunctionsPitchRoll(AcX, AcY, AcZ);   

  int ServoRoll = map(Roll, -75, 75, 0, 180);
 
  ServoX.write(ServoRoll);

  Serial.print("Roll: "); Serial.print(Roll);
  Serial.print("\n");

}

void init_MPU(){
  Wire.begin();
  Wire.beginTransmission(MPU);
  Wire.write(0x6B);  
  Wire.write(0);     
  Wire.endTransmission(true);
  delay(1000);
}


double FunctionsPitchRoll(double A, double B, double C){
  double DataA, DataB, Value;
  DataA = A;
  DataB = (B*B) + (C*C);
  DataB = sqrt(DataB);
  
  Value = atan2(DataA, DataB);
  Value = Value * 180/3.14;
  
  return (int)Value;
}

void FunctionsMPU(){
  Wire.beginTransmission(MPU);
  Wire.write(0x3B);  
  Wire.endTransmission(false);
  Wire.requestFrom(MPU,6,true);  
  AcX=Wire.read()<<8|Wire.read();       
  AcY=Wire.read()<<8|Wire.read();  
  AcZ=Wire.read()<<8|Wire.read();  
}