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

MPU6050 mpu;

// Define sensitivity range of the gyroscope
const float gyroSensitivity = 131.0; // for ±250 dps range

void setup() {
  Serial.begin(9600);
  Wire.begin();
  
  // Initialize MPU6050
  mpu.initialize();
  
  // Set Gyro sensitivity to +/- 250 degrees/sec
  mpu.setFullScaleGyroRange(MPU6050_GYRO_FS_250);
}

void loop() {
  // Read gyroscope values
  int16_t gyro_x_raw = mpu.getRotationX();
  float gyro_x_dps = gyro_x_raw / gyroSensitivity;
  
    int16_t gyro_y_raw = mpu.getRotationY();
  float gyro_y_dps = gyro_y_raw / gyroSensitivity;

    int16_t gyro_z_raw = mpu.getRotationZ();
  float gyro_z_dps = gyro_z_raw / gyroSensitivity;
  // Print gyroscope values
  Serial.print("Gyroscope X (dps): ");
  Serial.println(gyro_x_dps);
    Serial.print("Gyroscope Y (dps): ");
  Serial.println(gyro_y_dps);
    Serial.print("Gyroscope Z (dps): ");
  Serial.println(gyro_z_dps );
  // Delay for better readability
  delay(500);
}