#include "Wire.h"
#define MPU_ADDR 0x68
int16_t accX, accY, accZ;
float rangePerDigit = .000061f;
float NormAccX,NormAccY,NormAccZ;
float pitch, roll;

void setup() {
    Serial.begin(9600);
        Wire.begin();
            Wire.beginTransmission(MPU_ADDR);
                Wire.write(0x6B); // Power Management for MPU6050
                    Wire.write(0); // Wake up MPU
                        Wire.endTransmission(true);
                        }

                        void loop() {
                            Wire.beginTransmission(MPU_ADDR);
                                Wire.write(0x3B); // starting with register 0x3B (ACCEL_XOUT_H)
                                    Wire.endTransmission(false);
                                        Wire.requestFrom(MPU_ADDR,6,true); // request a total of 6 registers

                                            accX=Wire.read()<<8|Wire.read(); // 0x3B (ACCEL_XOUT_H) & 0x3C (ACCEL_XOUT_L)    
                                                accY=Wire.read()<<8|Wire.read(); // 0x3D (ACCEL_YOUT_H) & 0x3E (ACCEL_YOUT_L)
                                                    accZ=Wire.read()<<8|Wire.read(); // 0x3F (ACCEL_ZOUT_H) & 0x40 (ACCEL_ZOUT_L)

                                                        // Normalize values
                                                            NormAccX = accX * rangePerDigit * 9.80665f;
                                                                NormAccY = accY * rangePerDigit * 9.80665f;
                                                                    NormAccZ = accZ * rangePerDigit * 9.80665f;

                                                                        // Calculate pitch and roll
                                                                            pitch = -(atan2(NormAccX, sqrt(NormAccY*NormAccY + NormAccZ*NormAccZ))*180.0)/M_PI;
                                                                                roll = (atan2(NormAccY, NormAccZ)*180.0)/M_PI;

                                                                                    // Output pitch and roll to Serial Monitor
                                                                                        Serial.print("Pitch : ");
                                                                                            Serial.print(pitch);
                                                                                                Serial.print(" dan Roll : ");
                                                                                                    Serial.print(roll);
                                                                                                        Serial.println();
                                                                                                            delay(100);
                                                                                                            }