Simple MPU6050 Code no Library Arduino IDE

#include <Wire.h>

const int MPU_ADDR = 0x68;

// MPU6050 register addresses
const int PWR_MGMT_1 = 0x6B;
const int ACCEL_XOUT_H = 0x3B;
const int GYRO_XOUT_H = 0x43;

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

  // Wake up MPU6050
  Wire.beginTransmission(MPU_ADDR);
  Wire.write(PWR_MGMT_1);
  Wire.write(0);
  Wire.endTransmission(true);

  Serial.println("MPU6050 Sensor Readings");
  Serial.println("========================");
}

void loop() {
  // Read raw sensor data
  int16_t rawAccelX = readSensor(ACCEL_XOUT_H);
  int16_t rawAccelY = readSensor(ACCEL_XOUT_H + 2);
  int16_t rawAccelZ = readSensor(ACCEL_XOUT_H + 4);

  int16_t rawGyroX = readSensor(GYRO_XOUT_H);
  int16_t rawGyroY = readSensor(GYRO_XOUT_H + 2);
  int16_t rawGyroZ = readSensor(GYRO_XOUT_H + 4);

  // Convert to readable units
  // Accelerometer: ±2g range, sensitivity = 16384 LSB/g
  float accelX_g = rawAccelX / 16384.0;
  float accelY_g = rawAccelY / 16384.0;
  float accelZ_g = rawAccelZ / 16384.0;

  // Gyroscope: ±250°/s range, sensitivity = 131 LSB/°/s
  float gyroX_deg = rawGyroX / 131.0;
  float gyroY_deg = rawGyroY / 131.0;
  float gyroZ_deg = rawGyroZ / 131.0;

  // Calculate acceleration magnitude
  float accelMagnitude = sqrt(accelX_g * accelX_g +
                             accelY_g * accelY_g +
                             accelZ_g * accelZ_g);

  // Display readings
  Serial.println("=== MPU6050 Readings ===");

  Serial.print("Acceleration: ");
  Serial.print("X="); Serial.print(accelX_g, 2); Serial.print("g, ");
  Serial.print("Y="); Serial.print(accelY_g, 2); Serial.print("g, ");
  Serial.print("Z="); Serial.print(accelZ_g, 2); Serial.print("g");
  Serial.print(" | Magnitude: "); Serial.print(accelMagnitude, 2); Serial.println("g");

  Serial.print("Rotation:     ");
  Serial.print("X="); Serial.print(gyroX_deg, 1); Serial.print("°/s, ");
  Serial.print("Y="); Serial.print(gyroY_deg, 1); Serial.print("°/s, ");
  Serial.print("Z="); Serial.print(gyroZ_deg, 1); Serial.println("°/s");

  Serial.println("========================");

  delay(500); // Update every 0.5 seconds
}

int16_t readSensor(uint8_t reg) {
  Wire.beginTransmission(MPU_ADDR);
  Wire.write(reg);
  Wire.endTransmission(false);
  Wire.requestFrom(MPU_ADDR, 2, true);
  return (Wire.read() << 8) | Wire.read();
}