#include "Wire.h"
#include "MPU6050.h"

MPU6050 accelgyro;

int16_t ax, ay, az;
int16_t gx, gy, gz;

#define LED_PIN 13
bool blinkState = false;

void setup() {
  Wire.begin();
  Serial.begin(38400);
  Serial.println("Initializing I2C devices...");
  accelgyro.initialize();
  Serial.println("Testing device connections...");
  Serial.println(accelgyro.testConnection() ? "MPU6050 connection successful" : "MPU6050 connection failed");
  pinMode(LED_PIN, OUTPUT);
}

void loop() {
  // read raw accel/gyro measurements from device
  accelgyro.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);

  Serial.print("a/g:\t");
  Serial.print(ax); Serial.print("\t");
  Serial.print(ay); Serial.print("\t");
  Serial.print(az); Serial.print("\t");
  Serial.print(gx); Serial.print("\t");
  Serial.print(gy); Serial.print("\t");
  Serial.println(gz);

  // blink LED to indicate activity
  blinkState = !blinkState;
  digitalWrite(LED_PIN, blinkState);

}