accelerometer_example.cpp

// Bring in Wire package/library (for accelerometer)
#include <Wire.h>
// declare
const int MPU_addr = 0x68; // I2C address of the MPU-6050
int16_t AcX, AcY, AcZ, Tmp, GyX, GyY, GyZ;
void setup()
{
  Wire.begin();
  Wire.beginTransmission(MPU_addr);
  Wire.write(0x6B); // PWR_MGMT_1 register
  Wire.write(0);    // set to zero (wakes up the MPU-6050)
  Wire.endTransmission(true);
  pinMode(LED_BUILTIN, OUTPUT);
  Serial.begin(9600);
}
void loop()
{
  digitalWrite(LED_BUILTIN, HIGH); // turn the LED on (HIGH is the voltage level)
  delay(100);                      // wait for a second
  digitalWrite(LED_BUILTIN, LOW);  // turn the LED off by making the voltage LOW

  // write all info for MPU
  Wire.beginTransmission(MPU_addr);
  Wire.write(0x3B); // starting with register 0x3B (ACCEL_XOUT_H)
  Wire.endTransmission(false);
  Wire.requestFrom(MPU_addr, 14, true); // request a total of 14 registers
  AcX = Wire.read() << 8 | Wire.read(); // 0x3B (ACCEL_XOUT_H) & 0x3C (ACCEL_XOUT_L)
  AcY = Wire.read() << 8 | Wire.read(); // 0x3D (ACCEL_YOUT_H) & 0x3E (ACCEL_YOUT_L)
  AcZ = Wire.read() << 8 | Wire.read(); // 0x3F (ACCEL_ZOUT_H) & 0x40 (ACCEL_ZOUT_L)
  Tmp = Wire.read() << 8 | Wire.read(); // 0x41 (TEMP_OUT_H) & 0x42 (TEMP_OUT_L)
  GyX = Wire.read() << 8 | Wire.read(); // 0x43 (GYRO_XOUT_H) & 0x44 (GYRO_XOUT_L)
  GyY = Wire.read() << 8 | Wire.read(); // 0x45 (GYRO_YOUT_H) & 0x46 (GYRO_YOUT_L)
  GyZ = Wire.read() << 8 | Wire.read(); // 0x47 (GYRO_ZOUT_H) & 0x48 (GYRO_ZOUT_L)
  Serial.print(AcX);
  Serial.print(",");
  Serial.print(AcY);
  Serial.print(",");
  Serial.print(AcZ);
  Serial.print(",");
  Serial.print(Tmp / 340.00 + 36.53); //equation for temperature in degrees C from datasheet
  Serial.print(",");
  Serial.print(GyX);
  Serial.print(",");
  Serial.print(GyY);
  Serial.print(",");
  Serial.println(GyZ);
  delay(100);
}