#include <Wire.h>
#include <MPU6050.h>
#include <I2Cdev.h>

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

void setup() {
  Wire.begin();
  Serial.begin(38400);

  Serial.println("Initializing I2C devices...");
  accelgyro.initialize();
  delay(100);
}

void loop() {
  accelgyro.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);

  Serial.print("ax: "); Serial.print(ax); Serial.print("\t");
  Serial.print("ay: "); Serial.print(ay); Serial.print("\t");
  Serial.print("az: "); Serial.print(az); Serial.print("\t");
  Serial.print("gx: "); Serial.print(gx); Serial.print("\t");
  Serial.print("gy: "); Serial.print(gy); Serial.print("\t");
  Serial.print("gz: "); Serial.println(gz);
}