#include <Wire.h>

#define MPU 0x68  // MPU6050 address when ADO = GND

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

  // Wake up MPU6050
  Wire.beginTransmission(MPU);
  Wire.write(0x6B);
  Wire.write(0);
  Wire.endTransmission(true);

  Serial.println("MPU6050 Ready...");
}

void loop() {
  Wire.beginTransmission(MPU);
  Wire.write(0x3B);  // start reading at ACCEL_XOUT_H
  Wire.endTransmission(false);
  Wire.requestFrom(MPU, 14, true);

  int16_t ax = Wire.read() << 8 | Wire.read();
  int16_t ay = Wire.read() << 8 | Wire.read();
  int16_t az = Wire.read() << 8 | Wire.read();
  int16_t temp = Wire.read() << 8 | Wire.read();
  int16_t gx = Wire.read() << 8 | Wire.read();
  int16_t gy = Wire.read() << 8 | Wire.read();
  int16_t gz = Wire.read() << 8 | Wire.read();

  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.print(gz);

  Serial.println();
  delay(100);
}