I am having a problem with my Arduino IDE code concerning the filter of mpu$6050.$ The filter is not working properly even though its not moving it keeps turning. here is the Arduino code:

#include

#include

MPU$6050$ mpu;

const int buttonPin$2=2$;

const int buttonPin$3=3$;

const float dt $=0\mathrm{.}01$; $//$ Zaman ad$$m$($saniye cinsinden$)$

const float alpha $=0\mathrm{.}98$; $//$ A$$rl$$k fakt$$r$($ivme$$l$$er verileri i$$in$)$

const float beta $=1-$ alpha; $//$ A$$rl$$k fakt$$r$($jiroskop verileri i$$in$)$

float angleX $=0\mathrm{.}0$;

float angleY $=0\mathrm{.}0$;

float angleZ $=0\mathrm{.}0$;

void setup$()$

$\{$

Serial.begin$(9600)$;

pinMode$($buttonPin$2,$ INPUT$\_$PULLUP$)$;

pinMode$($buttonPin$3,$ INPUT$\_$PULLUP$)$;

while $(!$mpu.begin$($MPU$6050\_$SCALE$\_2000$DPS$,$ MPU$6050\_$RANGE$\_16$G$))\{$

Serial.println$("$Could not find a valid MPU$6050$ sensor$,$ check wiring $!")$;

delay$(500)$;

$\}$

mpu.calibrateGyro$()$;

mpu.setThreshold$(3)$;

$//$ Print calibration offsets $($lk ayarlanma konumlar sonradan hatay gidermek i$$in$.)$

Serial.println$("$MPU$6050$ initialized and calibrated."$)$;

Serial.print$("$Offsets: $")$;

Serial.print$($mpu$.$getAccelOffsetX$())$;

Serial.print$("\backslash$t$")$;

Serial.print$($mpu$.$getAccelOffsetY$())$;

Serial.print$("\backslash$t$")$;

Serial.print$($mpu$.$getAccelOffsetZ$())$;

Serial.print$("\backslash$t$")$;

Serial.print$($mpu$.$getGyroOffsetX$())$;

Serial.print$("\backslash$t$")$;

Serial.print$($mpu$.$getGyroOffsetY$())$;

Serial.print$("\backslash$t$")$;

Serial.println$($mpu$.$getGyroOffsetZ$())$;

$\}$

void loop$()\{$

Vector rawAccel $=$ mpu.readRawAccel$()$;

Vector rawGyro $=$ mpu.readRawGyro$()$;

$//$ Convert raw values to meaningful units $($acceleration in g$\text{'}$s$,$ angular velocity in degrees per second$)$

float accelX $=$ rawAccel.XAxis $/16384\mathrm{.}0$;

float accelY $=$ rawAccel.YAxis $/16384\mathrm{.}0$;

float accelZ $=$ rawAccel.ZAxis $/16384\mathrm{.}0$;

float gyroX $=$ rawGyro.XAxis $/131\mathrm{.}0$;

float gyroY $=$ rawGyro.YAxis $/131\mathrm{.}0$;

float gyroZ $=$ rawGyro.ZAxis $/131\mathrm{.}0$;

$//$ Calculate angles using complementary filter

angleX $=$ alpha $*($angleX $+$ gyroX $*$ dt$)+$ beta $*($atan$2($accelY$,$ accelZ$)*180\mathrm{.}0/$ PI$)$;

angleY $=$ alpha $*($angleY $+$ gyroY $*$ dt$)+$ beta $*($atan$(-$accelX $/$ sqrt$($accelY $*$ accelY $+$ accelZ $*$ accelZ$))*180\mathrm{.}0/$ PI$)$;

angleZ $=$ alpha $*($angleZ $+$ gyroZ $*$ dt$)+$ beta $*($gyroZ $*180\mathrm{.}0/$ PI$)$;

$//$ Read button states

int buttonState$2=$ digitalRead$($buttonPin$2)$;

int buttonState$3=$ digitalRead$($buttonPin$3)$;

$//$ Print the data $($optional$)$

Serial.print$($angleX$)$;

Serial.print$(",")$;

Serial.print$($angleY$)$;

Serial.print$(",")$;

Serial.println$($angleZ$)$;

if $($buttonState$2==$ LOW$)\{$

Serial.println$("$BUTTON$2\_$PRESSED"$)$;

$\}$

else if $($buttonState$2==$ HIGH$)\{$

Serial.println$("$BUTTON$2\_$NOT$\_$PRESSED"$)$;

$\}$

if $($buttonState$3==$ LOW$)\{$

Serial.println$("$BUTTON$3\_$PRESSED"$)$;

$\}$

else if $($buttonState$3==$ HIGH$)\{$

Serial.println$("$BUTTON$3\_$NOT$\_$PRESSED"$)$;

$\}$

delay$(100)$; $//$ Adjust the delay as needed

$\}$

and here is ther processing code :

import processing.serial.$*$;

Serial myPort; $//$Port Nesnesi

String portName $=$ "COM$3"$; $//$Buraya Arduinonun PORT BA$$LANTI ADI gelir.

int baudRate $=9600$; $//$Seri ileti$$im h$$z$==$ Arduino IDE baudrate.

float geoX; $//$Jiroskop$\text{'}$tan gelen veriler i$$in$.$

float geoY;

float geoZ;

float boxS$$ze $=500$;

color boxColor;

String$[]$ userGuide $=$

$\{$

"KULLANIM KILAVUZU:",

$"3$D KUMANDA UYGULAMAMIZA HO$$GELD$$N$$Z$",$

"Hareket i$$in jiroskopu hareket ettiriniz",

$"--------------------",$

"BUTTON$2$: Rastgele renk se$$imi$",$

"BUTTON$3$: K$$renin boyutunu artt$$r$",$

$"--------------------"$

$\}$;

void setup$()$

$\{$

size$(1000,1000,$P$3$D$)$; $//$lk pencere boyutu ve $3$D olmas ayar$.$

myPort $=$ new Serial$($this$,$ portName, baudRate$)$; $//$Seri $$leti$$im i$$in seri port ba$$latma$.$

boxColor $=$ color$(0,5,255)$;

strokeWeight$(6)$;

$\}$

void draw$()$

$\{$

background$(0,0,255)$; $//$ Arkaplan rengi

displayUserGuide$()$; $//$ Kullan$$c$$ k$$lavuzunu g$$ster

float dirX $=$ map$($geoX$,-32768,32767,-1,1)$;

float dirY $=$ map$($geoY$,-32768,32767,-1,1)$;

float dirZ $=$ map$($geoZ$,-32768,32767,-1,1)$;

directionalLight$(255,255,255,$ dirX, dirY, dirZ$)$;

ambientLight$(50,50,50)$;

translate$(1000/2,1000/2,-300)$; $//$ Orta noktay ekran$$n ortas$$na yerle$$tirmek$.$

rotateX$($geoX$)$;$//3$ boyutlu cismin d$$nd$$r$$lmesi i$$in veriler.

rotateY$($geoY$)$;

rotateZ$($geoZ$)$;

fill$($boxColor$)$;

box$($boxS$$ze$)$;

delay$(100)$;

$\}$

void serialEvent$($Serial myPort$)$

$\{$

String message $=$ myPort.readStringUntil$(\text{'}$

$\text{'})$;

if $($message $!=$ null$)$

$\{$

message $=$ message.trim$()$;$//$Mesaj$$ temizler

println$("$Received: $"+$ message$)$;

if $($message$.$equals$("$BUTTON$2\_$PRESSED"$))$

$\{$

boxColor $=$ color$($random$(255),$ random$(255),$ random$(255))$; $//$ Rastgele renk se$$imi

$\}$

else if $($message$.$equals$("$BUTTON$3\_$PRESSED"$))$

$\{$

if $($boxS$$ze $<900)$

$\{$

boxS$$ze