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

MPU6050 mpu;
int16_t ax, ay, az;
int16_t gx, gy, gz; 

void setup() {
  Serial.begin(115200);
  Wire.begin();
  mpu.initialize();
}

void loop() {
  mpu.getAcceleration(&ax, &ay, &az);
  mpu.getRotation(&gx, &gy, &gz);

  float accelX = ax / 16384.0;
  float accelY = ay / 16384.0;
  float accelZ = az / 16384.0;

  float gyroX = gx / 131.0;
  float gyroY = gy / 131.0;
  float gyroZ = gz / 131.0;

  float accelTotal = sqrt(accelX * accelX + accelY * accelY + accelZ * accelZ);
  float gyroTotal = sqrt(gyroX * gyroX + gyroY * gyroY + gyroZ * gyroZ);

  Serial.print("Ускорение(g): ");
  Serial.println(accelTotal);

  Serial.print("Угловая скорость(градусы/сек): ");
  Serial.println(gyroTotal);

  delay(500); 
}