#include <Wire.h>

const int MPU_ADDRESS = 0x68; 
int16_t accelX, accelY, accelZ;

void setup() {
  Serial.begin(9600);
  Wire.begin(); 
  Wire.beginTransmission(MPU_ADDRESS);
  Wire.write(0x6B);
  Wire.write(0);   
  Wire.endTransmission(true);
  Serial.println("MPU-6050 đã được khởi tạo .");
}

void loop() {

  Wire.beginTransmission(MPU_ADDRESS);
  Wire.write(0x3B); // ACCEL_XOUT_H
  Wire.endTransmission(false); 
  Wire.requestFrom(MPU_ADDRESS, 6, true);
  accelX = Wire.read() << 8 | Wire.read();
  accelY = Wire.read() << 8 | Wire.read();
  accelZ = Wire.read() << 8 | Wire.read();
  Serial.print("Gia toc X: ");
  Serial.print(accelX);
  Serial.print(" | Gia toc Y: ");
  Serial.print(accelY);
  Serial.print(" | Gia toc Z: ");
  Serial.println(accelZ);
  delay(500); 
}