#include <Wire.h>
#define MPU6050_ADDR 0x68
void writeMPU6050(byte reg, byte data) {
  Wire.beginTransmission(MPU6050_ADDR);
  Wire.write(reg);
  Wire.write(data);
  Wire.endTransmission();
}
byte readMPU6050(byte reg) {
  Wire.beginTransmission(MPU6050_ADDR);
  Wire.write(reg);
  Wire.endTransmission();
  Wire.requestFrom(MPU6050_ADDR, 1);
  byte data = Wire.read();
  return data;
}
void setup() {
  // put your setup code here, to run once:
  Serial.begin(115200);
  Wire.begin();
  byte gyroVal, acceVal, val;
  writeMPU6050(0x6B, 0x01);
  Serial.print("模块当前I2C地址：");
  val = readMPU6050(0x75);
  Serial.println(val, HEX);
  Serial.print("当前量程为：");
  gyroVal = readMPU6050(0x1B);
  Serial.println(gyroVal, BIN);
  acceVal = readMPU6050(0x1C);
  Serial.println(acceVal, BIN);

  writeMPU6050(0x1B, 0b11000);
  writeMPU6050(0x1C, 0b11000);

  Serial.print("设置后的量程为：");
  gyroVal = readMPU6050(0x1B);
  Serial.println(gyroVal, BIN);
  acceVal = readMPU6050(0x1C);
  Serial.println(acceVal, BIN);

  writeMPU6050(0x1B, gyroVal);
  writeMPU6050(0x1C, acceVal);

}

void loop() {
  // put your main code here, to run repeatedly:

}