#include <Wire.h>
#include <Adafruit_MPU6050.h>
#include <Adafruit_Sensor.h>

Adafruit_MPU6050 mpu;

void setup() {
  Serial.begin(115200);
  while (!Serial) delay(10); // wait for serial port to open

  if (!mpu.begin()) {
    Serial.println("Failed to find MPU6050 chip");
    while (1) {
      delay(10);
    }
  }

  mpu.setAccelerometerRange(MPU6050_RANGE_8_G);
  mpu.setGyroRange(MPU6050_RANGE_1000_DEG);
  mpu.setFilterBandwidth(MPU6050_BAND_21_HZ);

  Serial.println("MPU6050 Found!");
}

void loop() {
  sensors_event_t a, g, temp;
  mpu.getEvent(&a, &g, &temp);

  // Serial.print("Accel X: "); Serial.print(a.acceleration.x); Serial.print(" m/s^2, ");
  // Serial.print("Y: "); Serial.print(a.acceleration.y); Serial.print(" m/s^2, ");
  // Serial.print("Z: "); Serial.println(a.acceleration.z); Serial.print(" m/s^2");

  Serial.print("Gyro X: "); Serial.print(g.gyro.x); Serial.print(" rad/s, ");
  Serial.print("Y: "); Serial.print(g.gyro.y); Serial.print(" rad/s, ");
  Serial.print("Z: "); Serial.println(g.gyro.z); Serial.print(" rad/s");

  delay(1000);
}