#include <Adafruit_MPU6050.h>
#include <Adafruit_Sensor.h>
#include <Wire.h>

Adafruit_MPU6050 mpu1;
Adafruit_MPU6050 mpu2;

void setup(void) {
  Serial.begin(115200);
  while(!Serial)
  delay(20);
  if(!mpu1.begin()){
    while(1){
      delay(20);}
  }
  if(!mpu2.begin()){
    while(1){
      delay(20);}
  prepareMPU(mpu1);
  prepareMPU(mpu2);
  Serial.println("");
  delay(100);
}
  }
unsigned long lastPrint = 0;

void loop() {
  if (millis() - lastPrint >= 1000) {
    lastPrint = millis();
    printMPUData(mpu1, '1');
    printMPUData(mpu2, '2');
  }
}


void prepareMPU(Adafruit_MPU6050 &mpu) {
  mpu.setAccelerometerRange(MPU6050_RANGE_16_G);
  mpu.setGyroRange(MPU6050_RANGE_250_DEG);
  mpu.setFilterBandwidth(MPU6050_BAND_21_HZ);
}

void printMPUData(Adafruit_MPU6050 &mpu, char c) {
  /* Get new sensor events with the readings */
  sensors_event_t a, g, temp;
  mpu.getEvent(&a, &g, &temp);

  /* Print out the values */
  Serial.print(millis());
  Serial.print('\t');
  Serial.print(c);
  Serial.print('\t');
  Serial.print(a.acceleration.x);
  Serial.print(",");
  Serial.print(a.acceleration.y);
  Serial.print(",");
  Serial.print(a.acceleration.z);
  Serial.print(", ");
  Serial.print(g.gyro.x);
  Serial.print(",");
  Serial.print(g.gyro.y);
  Serial.print(",");
  Serial.print(g.gyro.z);
  Serial.println("");
}