#include <Wire.h>

/**
  Define MPU-6050 address
*/
#define MPU_ADDR 0x68

void setup() {
  // code to initialize the MPU-6050
  Wire.begin(); 
  Wire.beginTransmission(MPU_ADDR); 
  Wire.write(0x6B); 
  Wire.write(0);
  Wire.endTransmission(true);
  // Baud-Rate = 9600 bit/s
  Serial.begin(9600);                 
}

/**
  Array to store 3-axis acc. values
*/
#define VALUES_SIZE 4
float rawValues [VALUES_SIZE];

/**
  Define the sensitivity 
*/
#define SENSITIVITY 16384

void loop() {
  // code to start reading from the MPU-6050
  Wire.beginTransmission(MPU_ADDR);
  Wire.write(0x3B);
  Wire.endTransmission(false);
  // IMPORTANT: The number of the requested bytes = # values * 2 = 4 * 2 = 8
  Wire.requestFrom(MPU_ADDR, VALUES_SIZE * 2, true);

  // read the raw values and store them in the array
  for (int i = 0; i < VALUES_SIZE; i++) {
    // each one is two successive 8-bit
    rawValues[i] = Wire.read() << 8 | Wire.read();
  }

  // scale the raw values
  float accX = rawValues[0] / SENSITIVITY;
  float accY = rawValues[1] / SENSITIVITY;
  float accZ = rawValues[2] / SENSITIVITY;
  float temperature = (rawValues[3] / 340) + 36.53;

  // print them on the serial monitor
  Serial.print("X=");
  Serial.print(accX);

  Serial.print("  Y=");
  Serial.print(accY);

  Serial.print("  Z=");
  Serial.print(accZ);

  Serial.print("  Temperature=");
  Serial.println(temperature);

  // detect the tilting

  if (accX > 0.5) {
    Serial.println("Tilting to right!");

  } else if (accX < -0.5) {
    Serial.println("Tilting to left!");

  }

  if (accY > 0.5) {
    Serial.println("Tilting to top!");

  } else if (accY < -0.5) {
    Serial.println("Tilting to bottom!");

  }

  delay(1000);
}