#include<Wire.h>
const int MPU_addr=0x68;  // I2C address of the MPU-6050
short xgyro, xacc, yacc;

short mpu_read(short reg_addr);

void setup(){
  Wire.begin();
  Serial.begin(9600);
}
void loop(){
  yacc = mpu_read(0x3B);
  xacc = mpu_read(0x43);
  xgyro = mpu_read(0x3D);

  Serial.print("pos : ") & Serial.print(xacc) & Serial.print(" | ") & Serial.println(yacc);
  Serial.print("dir : ") & Serial.println(xgyro);
  delay(1000);
}

short mpu_read(short reg_addr){
  Wire.beginTransmission(MPU_addr);
  Wire.requestFrom(MPU_addr, 2, true);
  Wire.write(reg_addr);
  short output = Wire.read() << 8 | Wire.read();
  Wire.endTransmission(true);
  return output;
}