I am having a problem with my Arduino IDE code concerning the filter of mpu$6050.$ The filter is not working properly. here is the 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

$\}$