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

MPU6050 mpu;

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

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

  Wire.begin();
  TWBR = 12; // Set I2C clock to ~400 kHz on Arduino Uno

  mpu.initialize();
  mpu.setDLPFMode(0); // Low-latency filter
  mpu.setRate(0);     // Max output rate
}

void loop() {
  unsigned long t1 = micros();
  mpu.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);
  unsigned long t2 = micros();

  Serial.print("A:");
  Serial.print(ax); Serial.print(',');
  Serial.print(ay); Serial.print(',');
  Serial.print(az); Serial.print(" G:");
  Serial.print(gx); Serial.print(',');
  Serial.print(gy); Serial.print(',');
  Serial.print(gz); Serial.print(" T:");
  Serial.println(t2 - t1);
}