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MPU6050 MPU-6050 gyroscope accelerometer

bord: GY-521 ITG/MPU

https://playground.arduino.cc/Main/MPU-6050#short

    // MPU-6050 Short Example Sketch
    // By Arduino User JohnChi
    // August 17, 2014
    // Public Domain
    #include<Wire.h>
    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);
      Serial.begin(250000);
    }
    void loop(){
      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(""); 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(333);
    }

calibrate

https://github.com/kkpoon/CalibrateMPU6050

#include "I2Cdev.h"
#include "MPU6050.h"
#include "Wire.h"
 
#define MPU6050_ACCEL_OFFSET_X -773
#define MPU6050_ACCEL_OFFSET_Y 3278
#define MPU6050_ACCEL_OFFSET_Z 1660
#define MPU6050_GYRO_OFFSET_X  -24
#define MPU6050_GYRO_OFFSET_Y  -62
#define MPU6050_GYRO_OFFSET_Z  -6
 
MPU6050 mpu;
 
void setup() {
    Wire.begin();
    mpu.initialize();
    mpu.setXAccelOffset(MPU6050_ACCEL_OFFSET_X);
    mpu.setYAccelOffset(MPU6050_ACCEL_OFFSET_Y);
    mpu.setZAccelOffset(MPU6050_ACCEL_OFFSET_Z);
    mpu.setXGyroOffset(MPU6050_GYRO_OFFSET_X);
    mpu.setYGyroOffset(MPU6050_GYRO_OFFSET_Y);
    mpu.setZGyroOffset(MPU6050_GYRO_OFFSET_Z);
}
 
void loop() {
}