#include <ArduinoJson.h>
#include <Adafruit_MPU6050.h>
#include <Adafruit_Sensor.h>
#include <Wire.h>

Adafruit_MPU6050 mpu;

void setup(void) {
  Serial.begin(115200);
  while (!Serial)
    delay(10); // pause Zero, Leonardo, etc until serial console opens
  mpu.setAccelerometerRange(MPU6050_RANGE_8_G);
  mpu.setGyroRange(MPU6050_RANGE_500_DEG);
  mpu.setFilterBandwidth(MPU6050_BAND_21_HZ);
  delay(100);
}

void loop() {

  /* Take a new reading */
  mpu.read();

  /* Get new sensor events with the readings */
  sensors_event_t accel_event, gyro_event, temp;
  mpu.getEvent(&accel_event, &gyro_event, &temp);

  /*Create new json object from values x,y,z respectively*/
  
  DynamicJsonBuffer jsonBuffer; /*or StaticJsonBuffer,200> jsonBuffer;*/
  JsonObject& root=jsonBuffer.createObject();


  /*Json object now gets input values from acceleration vectors*/

  JsonObject& accel_data=root.createNestedObject("accel_data");
  accel_data["x"]=accel_event.acceleration.x;
  accel_data["y"]=accel_event.acceleration.y;
  accel_data["z"]=accel_event.acceleration.z;


  /*Json object now gets input values from gyroscope vectors*/

  JsonObject& gyro_data=root.createNestedObject("gyro_data");
  gyro_data["x"]=gyro_event.acceleration.x;
  gyro_data["y"]=gyro_event.acceleration.y;
  gyro_data["z"]=gyro_event.acceleration.z;

  /* Print out the values into JSON format*/
  root.printTo(Serial);
  Serial.println("");
  delay(1000);
}