#include <Wire.h>

#define MPU_ADDR 0x68
int16_t Ax, Ay, Az, Gx, Gy, Gz, Temperature;

void setup()
{
  Serial.begin(9600);
  Wire.begin();
  Wire.beginTransmission(MPU_ADDR);
  Wire.write(0x6B);
  Wire.write(0);
  Wire.endTransmission(true);

  Wire.begin();
  Wire.beginTransmission(MPU_ADDR);
  Wire.write(0x75);
  Wire.endTransmission(false);
  Wire.requestFrom(MPU_ADDR, 1);
  int16_t who_am_i = Wire.read();
  Serial.println(who_am_i, HEX);
  

  
}

void loop()
{
  Wire.beginTransmission(MPU_ADDR);
  Wire.write(0x3B);
  Wire.endTransmission(false);
  Wire.requestFrom(MPU_ADDR, 14);
  int16_t t = Wire.read();
  Ax = (t << 8) | Wire.read();
  t = Wire.read();
  Ay = (t << 8) | Wire.read();
  t = Wire.read();
  Az = (t << 8) | Wire.read();
  t = Wire.read();
  Temperature = (t << 8) | Wire.read();
  t = Wire.read();
  Gx = (t << 8) | Wire.read();
  t = Wire.read();
  Gy = (t << 8) | Wire.read();
  t = Wire.read();
  Gz = (t << 8) | Wire.read();
  t = Wire.read();

  Serial.print("Ax: "); Serial.print(Ax);
  Serial.print("| Ay: "); Serial.print(Ay);
  Serial.print("| Az: "); Serial.print(Az);
  Serial.print("| Temp: "); Serial.print(Temperature / 340.00 + 36.53);
  Serial.print("| Gx: "); Serial.print(Gx);
  Serial.print("| Gy: "); Serial.print(Gy);
  Serial.print("| Gz: "); Serial.println(Gz);

  delay(300);
}