// Distributed with a free-will license.

// Use it any way you want, profit or free, provided it fits in the licenses of its
associated works.
// MPU-6000
// This code is designed to work with the MPU-6000_I2CS I2C Mini Module available
from ControlEverything.com.
// https://www.controleverything.com/content/Accelorometer?sku=MPU-6000_I2CS#tabs-
0-product_tabset-2

#include <Wire.h>

// MPU-6000 I2C address is 0x68(104)

#define Addr 0x68

void setup()
{
// Initialise I2C communication as Master
Wire.begin();
// Initialise serial communication, set baud rate = 9600
Serial.begin(9600);

// Start I2C transmission

Wire.beginTransmission(Addr);
// Select gyroscope configuration register
Wire.write(0x1B);
// Full scale range = 2000 dps
Wire.write(0x18);
// Stop I2C transmission
Wire.endTransmission();

// Start I2C transmission

Wire.beginTransmission(Addr);
// Select accelerometer configuration register
Wire.write(0x1C);
// Full scale range = +/-16g
Wire.write(0x18);
// Stop I2C transmission
Wire.endTransmission();

// Start I2C transmission

Wire.beginTransmission(Addr);
// Select power management register
Wire.write(0x6B);
// PLL with xGyro reference
Wire.write(0x01);
// Stop I2C transmission
Wire.endTransmission();
delay(300);
}

void loop()
{
unsigned int data[6];

// Start I2C transmission

Wire.beginTransmission(Addr);
// Select data register
Wire.write(0x3B);
// Stop I2C transmission
Wire.endTransmission();

// Request 6 bytes of data

Wire.requestFrom(Addr, 6);

// Read 6 byte of data

if(Wire.available() == 6)
{
data[0] = Wire.read();
data[1] = Wire.read();
data[2] = Wire.read();
data[3] = Wire.read();
data[4] = Wire.read();
data[5] = Wire.read();
}

// Convert the data

int xAccl = data[0] * 256 + data[1];
int yAccl = data[2] * 256 + data[3];
int zAccl = data[4] * 256 + data[5];

// Start I2C transmission

Wire.beginTransmission(Addr);
// Select data register
Wire.write(0x43);
// Stop I2C transmission
Wire.endTransmission();

// Request 6 bytes of data

Wire.requestFrom(Addr, 6);

// Read 6 byte of data

if(Wire.available() == 6)
{
data[0] = Wire.read();
data[1] = Wire.read();
data[2] = Wire.read();
data[3] = Wire.read();
data[4] = Wire.read();
data[5] = Wire.read();
}
// Convert the data
int xGyro = data[0] * 256 + data[1];
int yGyro = data[2] * 256 + data[3];
int zGyro = data[4] * 256 + data[5];

// Output data to serial monitor

Serial.print("Acceleration in X-Axis : ");
Serial.println(xAccl);
Serial.print("Acceleration in Y-Axis : ");
Serial.println(yAccl);
Serial.print("Acceleration in Z-Axis : ");
Serial.println(zAccl);
Serial.print("X-Axis of Rotation : ");
Serial.println(xGyro);
Serial.print("Y-Axis of Rotation : ");
Serial.println(yGyro);
Serial.print("Z-Axis of Rotation : ");
Serial.println(zGyro);
 delay(500);
}