#include <Wire.h>

const int MPU = 0x68; // MPU6050 I2C address
float AccX, AccY, AccZ;

void setup() {
  Serial.begin(19200);
  Wire.begin();
  Wire.beginTransmission(MPU);
  Wire.write(0x6B);
  Wire.write(0b00000000);
  Wire.endTransmission();
  Wire.beginTransmission(0b1101000);
  Wire.write(0x1C);
  Wire.write(0b00000001);
  Wire.endTransmission();
}

void loop() {
  Wire.beginTransmission(MPU);
  Wire.write(0x3B);
  Wire.endTransmission();
  Wire.requestFrom(MPU, 6, true);
  AccX = (Wire.read()<<8|Wire.read());
  AccY = (Wire.read()<<8|Wire.read());
  AccZ = (Wire.read()<<8|Wire.read());

  Serial.print(AccX);
  Serial.print(",");
  Serial.print(AccY);
  Serial.print(",");
  Serial.println(AccZ);
  delay(100);
}