#include <Wire.h>
#include <MPU6050_tockn.h>

MPU6050 mpu6050(Wire);

void setup() {
  Serial.begin(9600);
  Wire.begin();
  while (!mpu6050.begin(MPU6050_SCALE_2000DPS, MPU6050_RANGE_2G))
  {
    Serial.println("Could not find a valid MPU6050 sensor, check wiring!");
    delay(500);
  }
  mpu6050.calcGyroOffsets(true);
}

void loop() {
  mpu6050.update();

  float ax = mpu6050.getAccX();
  float ay = mpu6050.getAccY();
  float az = mpu6050.getAccZ();

  float gx = mpu6050.getGyroX();
  float gy = mpu6050.getGyroY();
  float gz = mpu6050.getGyroZ();

  Serial.print("Accel: ");
  Serial.print("X="); Serial.print(ax);
  Serial.print(", Y="); Serial.print(ay);
  Serial.print(", Z="); Serial.println(az);

  Serial.print("Gyro: ");
  Serial.print("X="); Serial.print(gx);
  Serial.print(", Y="); Serial.print(gy);
  Serial.print(", Z="); Serial.println(gz);

  delay(100);
}