Write and integrate c++ code

Write and integrate compatible code to replace the PWM rotary encoder input with a PWM input from a MPU 9250 9 DoF breakout board in the following Adriano sketch.



#include <Servo.h>

// Rotary Encoder Inputs
#define inputCLK 4
#define inputDT 5

// Create a Servo object
Servo myservo;

int counter = 90;
int currentStateCLK;
int previousStateCLK;

void setup() {

// Set encoder pins as inputs
pinMode (inputCLK, INPUT);
pinMode (inputDT, INPUT);

// Setup Serial Monitor
Serial.begin (115200);

// Attach servo on pin 9 to the servo object
myservo.attach(9);

// Read the initial state of inputCLK
// Assign to previousStateCLK variable
previousStateCLK = digitalRead(inputCLK);

}

void loop()

// Read the current state of inputCLK
{currentStateCLK = digitalRead(inputCLK);

// If the previous and the current state of the inputCLK are different then a pulse has occured
if (currentStateCLK != previousStateCLK) {

// If the inputDT state is different than the inputCLK state then
// the encoder is rotating counterclockwise
if (digitalRead(inputDT) != currentStateCLK) {
counter --;
if (counter < 0) {
counter = 0;
}

} else {
// Encoder is rotating clockwise
counter ++;
if (counter > 180) {
counter = 180;
}

}

// Move the servo
myservo.write(counter);

Serial.print("Position: ");
Serial.println(counter);
}
// Update previousStateCLK with the current state
previousStateCLK = currentStateCLK;
}