#include <Wire.h>
#include <Adafruit_Sensor.h>
#include <Adafruit_BNO055.h>
#include <utility/imumaths.h>

Adafruit_BNO055 bno = Adafruit_BNO055(55, 0x28, &Wire);

void setup(void) {
  Serial.begin(9600);
  while (!Serial);  // Wait for serial port to connect

  if (!bno.begin()) {
    Serial.println("No BNO055 detected ... Check your wiring or I2C ADDR!");
    while (1);
  }
  delay(1000);  // Give sensor time to stabilize
}

void loop(void) {
  sensors_event_t orientationData;
  bno.getEvent(&orientationData, Adafruit_BNO055::VECTOR_EULER);
  if (orientationData.type == SENSOR_TYPE_ORIENTATION) {
    Serial.print("Orientation: ");
    Serial.print(orientationData.orientation.x);
    Serial.print(", ");
    Serial.print(orientationData.orientation.y);
    Serial.print(", ");
    Serial.println(orientationData.orientation.z);
  }
  delay(300);  // Sampling rate delay
}