Adafruit MPU-6050 6-DoF IMU

// MPU-6050 6-axis IMU over I2C — community starter example
#include <Wire.h>
#include <Adafruit_MPU6050.h>
#include <Adafruit_Sensor.h>

Adafruit_MPU6050 mpu;

void setup() {
  Serial.begin(115200);
  Wire.begin();
  if (!mpu.begin()) {            // default address 0x68
    Serial.println("MPU6050 not found");
    while (1) delay(10);
  }
}

void loop() {
  sensors_event_t a, g, temp;
  mpu.getEvent(&a, &g, &temp);
  Serial.print("ax="); Serial.print(a.acceleration.x);
  Serial.print(" gz="); Serial.println(g.gyro.z);
  delay(500);
}