#include <Wire.h>
#include <I2Cdev.h>
#include <MPU6050.h>


MPU6050 mpu;
 
int16_t rawax, raway, rawaz;
int16_t rawgx, rawgy, rawgz;
 
float ax,ay,az;
float gx,gy,gz;

 
void setup()
{
  Wire.begin();
  Serial.begin(38400);
  Serial.println("Initialize MPU");
  mpu.initialize();
  Serial.println(mpu.testConnection() ? "Connected" : "Connection failed");

}

void loop()
{

  mpu.getMotion6(&rawax, &raway, &rawaz, &rawgx, &rawgy, &rawgz);
  ax = (float(rawax)/16384)*9.81;
  ay = (float(raway)/16384)*9.81;
  az = (float(rawaz)/16384)*9.81;

  gx = (float(rawgx)/131);
  gy = (float(rawgy)/131);
  gz = (float(rawgz)/131);

  Serial.print("ax:");
  Serial.print(ax);
  Serial.print("m/s^2 ");
  Serial.print("ay:");
  Serial.print(ay);
  Serial.print("m/s^2 ");
  Serial.print("az: ");
  Serial.print(az);
  Serial.print("m/s^2 ");
  Serial.println("");

  Serial.print("gx:");
  Serial.print(gx);
  Serial.print("°/s ");
  Serial.print("gy:");
  Serial.print(gy);
  Serial.print("°/s ");
  Serial.print("gz: ");
  Serial.print(gz);
  Serial.print("°/s ");
  Serial.println("");

  delay(1000);

}