#include <Wire.h>
#include <MPU6050.h>
MPU6050 mpu;

void setup() {
  Wire.begin();
  Serial.begin(115200);
  mpu.initialize();
  mpu.CalibrateGyro();
  mpu.CalibrateAccel();
  mpu.setDMPEnabled(true); 
  }

void loop() {
  int16_t ax, ay, az;
  int16_t gx,gy,gz;
  mpu.getAcceleration(&ax, &ay, &az);
  mpu.getRotation(&gx,&gy,&gz);
  Serial.print("acelerometer is:");
  Serial.print("X=");
  Serial.println(ax);
  Serial.print("Y=");
  Serial.println(ay);
  Serial.print("Z=");
  Serial.println(az);
  Serial.print("Gyroscope is:");
  Serial.print("X=");
  Serial.println(gx);
  Serial.print("Y=");
  Serial.println(ay);
  Serial.print("Z=");
  Serial.println(az);
    delay(5000); 
}