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

MPU6050 mpu;

void setup() {
  
  Wire.begin();
  Serial.begin(115200);
  
  
  mpu.initialize();
  if (!mpu.testConnection()) {
    Serial.println("MPU6050 connection failed");
    while (1);
  } else {
    Serial.println("MPU6050 connection successful");
  }
}

void loop() {
  
  int16_t ax, ay, az;
  int16_t gx, gy, gz;
  
  mpu.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);

  
  Serial.print("aX = "); Serial.print(ax); Serial.print(" | ");
  Serial.print("aY = "); Serial.print(ay); Serial.print(" | ");
  Serial.print("aZ = "); Serial.print(az); Serial.print(" | ");
  
  Serial.print("gX = "); Serial.print(gx); Serial.print(" | ");
  Serial.print("gY = "); Serial.print(gy); Serial.print(" | ");
  Serial.print("gZ = "); Serial.println(gz);
  
  delay(500);
}