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

void setup() {
  Serial.begin(115200);
  Wire.begin();

  mpu.initialize();

  if (mpu.testConnection()) {
    Serial.println("MPU6050 connected.");
  } else {
    Serial.println("Connection failed.");
  }

  // Set custom ranges
  mpu.setFullScaleGyroRange(MPU6050_GYRO_FS_500);     // ±500 °/s
  mpu.setFullScaleAccelRange(MPU6050_ACCEL_FS_4);     // ±4g
}

void loop() {
  int16_t ax, ay, az, gx, gy, gz;
  mpu.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);

  Serial.print("Accel: ");
  Serial.print(ax); Serial.print(", ");
  Serial.print(ay); Serial.print(", ");
  Serial.print(az);

  Serial.print(" | Gyro: ");
  Serial.print(gx); Serial.print(", ");
  Serial.print(gy); Serial.print(", ");
  Serial.println(gz);

  delay(500);
}