#include<Wire.h>

const int MPU_address = 0x68;

int16_t Acx, Acy, Acz, Temperature, GyroX, GyroY, GyroZ;

void setup() {
  // put your setup code here, to run once:
  Wire.begin();
  Wire.beginTransmission(MPU_address);
  Wire.write(0x6B);
  Wire.write(0);
  Wire.endTransmission(true);
  Serial.begin(115200);



}

void loop() {
  // put your main code here, to run repeatedly:
  Wire.beginTransmission(MPU_address);    //ACCL_X_OUT_H
  Wire.write(0x3B);
  Wire.endTransmission(false);
  Wire.requestFrom(MPU_address,14);

  Acx=(float)((Wire.read() << 8) | Wire.read());
  int16_t t =Wire.read();
  Acy=t << 8| Wire.read();
  t=Wire.read();
  Acz=t << 8 | Wire.read();
  t=Wire.read();
  Temperature=t << 8| Wire.read();

  Serial.print("Acx: ");
  Serial.println(Acx);
  Serial.print("Acy: ");
  Serial.println(Acy);
  Serial.print("Acz: ");
  Serial.println(Acz);
  Serial.print("temperature: ");
  Serial.println(Temperature);
  
  delay(500);


}