text: #ifndef _GYRO_H_
  #define _GYRO_H_
  
  #include <MPU6050_light.h>
  
  #include "Logger.h"
  #define ANGLE_FILTER 0.2
  
  class GYRO { 
      public:
          GYRO(LOGGER *logger_, MPU6050* mpu_);
          void setup();
          void loop();
          float getHeading();
          float getAngleX();
          float getAngleY();
          float getAngleYFiltered();
          float getAcceleration();
          float getSpeed();
          float getTravelledDistance();
          void resetOdometer();
  
      private:
          LOGGER *logger;
          MPU6050 *mpu;
  
          float headingInternal = 0;
          float acceleration = 0;
          float speed = 0;
          float distanceTravelled = 0;
  
          unsigned long lastReadTime = 0;
  
          unsigned long now = micros();
          float filteredY = 0;
          bool initOk = false;
  };
  
  #endif