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

MPU6050 mpu;

void setup() {
  Serial.begin(9600);
  
  while (!Serial) {
    // Wait for serial port to connect
  }

  Serial.println("Initializing I2C devices...");
  mpu.initialize();

  Serial.println("Testing device connections...");
  Serial.println(mpu.testConnection() ? "MPU6050 connection successful" : "MPU6050 connection failed");

  mpu.setFullScaleGyroRange(MPU6050_GYRO_FS_250);
}

void loop() {
  int16_t ax, ay, az;
  int16_t gx, gy, gz;

  mpu.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);

  Serial.print("gyro x: ");
  Serial.print(gx);
  Serial.print("   gyro y: ");
  Serial.print(gy);
  Serial.print("   gyro z: ");
  Serial.println(gz);

  delay(100);  // Adjust delay as needed for your application
}