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

// Create an MPU6050 object
MPU6050 mpu;

// Variables to hold accelerometer and gyroscope values
int16_t ax, ay, az;
int16_t gx, gy, gz;

void setup() {
  // Initialize serial communication
  Serial.begin(115200);

  // Initialize I2C communication
  Wire.begin();

  // Initialize the MPU6050
  mpu.initialize();

  // Check if MPU6050 is connected
  if (!mpu.testConnection()) {
    Serial.println("MPU6050 connection failed");
    while (1);
  }
  
  Serial.println("MPU6050 connection successful");
}

void loop() {
  // Get raw accelerometer and gyroscope measurements
  mpu.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);

  // Print out the values
  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.print(gz); Serial.println(" ");
  
  // Wait a bit before the next loop
  delay(500);
}