/********************************************************************************
 * ADXL345 Library Examples- pitch_roll.ino                                      *
 *                                                                               *
 * Copyright (C) 2012 Anil Motilal Mahtani Mirchandani(anil.mmm@gmail.com)       *
 *                                                                               *
 * License GPLv3+: GNU GPL version 3 or later <http://gnu.org/licenses/gpl.html> *
 * This is free software: you are free to change and redistribute it.            *
 * There is NO WARRANTY, to the extent permitted by law.                         *
 *                                                                               *
 *********************************************************************************/

#include <Wire.h>
#include <ADXL345.h>

const float alpha = 0.5;

double fXg = 0;
double fYg = 0;
double fZg = 0;

ADXL345 acc;

void setup()
{
  acc.begin();
  Serial.begin(9600);
  delay(100);
}


void loop()
{
  double pitch, roll, Xg, Yg, Zg;
  acc.read(&Xg, &Yg, &Zg);

  //Low Pass Filter
  fXg = Xg * alpha + (fXg * (1.0 - alpha));
  fYg = Yg * alpha + (fYg * (1.0 - alpha));
  fZg = Zg * alpha + (fZg * (1.0 - alpha));

  Serial.print(fXg); Serial.print(" ");
  Serial.print(fYg); Serial.print(" ");
  Serial.println(fZg); 
  

 
  delay(10);
}