#include<Wire.h>

const int MPU=0x68;  

//Variaveis
int X = 0;
int Y = 0;
int Z = 0;
int Tmp = 0;
int GyX = 0;
int GyY = 0;
int GyZ = 0;

void setup()
{
  Serial.begin(9600);
  
  //inicialização MPU
  Wire.begin();
  Wire.beginTransmission(MPU);
  Wire.write(0x6B); 
  Wire.write(0); 
  Wire.endTransmission(true);
     
  
}
void loop()
{
  Wire.beginTransmission(MPU);
  Wire.write(0x3B); 
  Wire.endTransmission(false);
  Wire.requestFrom(MPU,14,true);  
  
  X=Wire.read()<<8|Wire.read();  
  Y=Wire.read()<<8|Wire.read();  
  Z=Wire.read()<<8|Wire.read();  
  Tmp=Wire.read()<<8|Wire.read();  
  GyX=Wire.read()<<8|Wire.read();  
  GyY=Wire.read()<<8|Wire.read();  
  GyZ=Wire.read()<<8|Wire.read();  
   
  Serial.print("AcX = "); Serial.print(X);
  Serial.print(" | AcY = "); Serial.print(Y);
  Serial.print(" | AcZ = "); Serial.print(Z);
  Serial.print(" | GyX = "); Serial.print(GyX);
  Serial.print(" | GyY = "); Serial.print(GyY);
  Serial.print(" | GyZ = "); Serial.println(GyZ);

  delay(300);
}