#include<Wire.h>
const int MPU2=0x69,MPU1=0x68;
int16_t AcX1,AcY1,AcZ1,Tmp1,GyX1,GyY1,GyZ1;
int16_t AcX2,AcY2,AcZ2,Tmp2,GyX2,GyY2,GyZ2;
float c_ax = 0;
float c_ay = 0;
float c_az = 0;
float g_ax = 0;
float g_ay = 0;
float g_az = 0;

//-------------------------------------------------\setup loop\------------------------------------------------------------ 
 void setup(){ 
      Wire.begin(); 
      Wire.beginTransmission(MPU1);
      Wire.write(0x6B);// PWR_MGMT_1 register 
      Wire.write(0); // set to zero (wakes up the MPU-6050)
      Wire.endTransmission(true);Wire.begin(); 
      Wire.beginTransmission(MPU2);
      Wire.write(0x6B);// PWR_MGMT_1 register 
      Wire.write(0); // set to zero (wakes up the MPU-6050)
      Wire.endTransmission(true);
      Serial.begin(9600); 
     } 
     
//---------------------------------------------------\void loop\------------------------------------------------------------

 
//----------------------------------------------\user defined functions\-------------------------------------------------- 
      
 
 void GetMpuValue1(const int MPU){ 
   
      Wire.beginTransmission(MPU); 
      Wire.write(0x3B); // starting with register 0x3B (ACCEL_XOUT_H) 
      Wire.endTransmission(false);
      Wire.requestFrom(MPU, 14, true); // request a total of 14 registers 
      AcX1=Wire.read()<<8| Wire.read(); // 0x3B (ACCEL_XOUT_H) & 0x3C (ACCEL_XOUT_L) 
      AcY1=Wire.read()<<8|  Wire.read(); // 0x3D (ACCEL_YOUT_H) & 0x3E (ACCEL_YOUT_L)
      AcZ1=Wire.read()<<8| Wire.read(); // 0x3F (ACCEL_ZOUT_H) & 0x40 (ACCEL_ZOUT_L) 
      Tmp1=Wire.read()<<8| Wire.read(); // 0x41 (TEMP_OUT_H) & 0x42 (TEMP_OUT_L) 
      GyX1=Wire.read()<<8| Wire.read(); // 0x43 (GYRO_XOUT_H) & 0x44 (GYRO_XOUT_L) 
      GyY1=Wire.read()<<8| Wire.read(); // 0x45 (GYRO_YOUT_H) & 0x46 (GYRO_YOUT_L) 
      GyZ1=Wire.read()<<8| Wire.read(); // 0x47 (GYRO_ZOUT_H) & 0x48 (GYRO_ZOUT_L) 
      Serial.print("AcX = ");
      Serial.print((AcX1/16384.0)-c_ax);
      Serial.print(" | AcY = "); 
      Serial.print((AcY1/16384.0)-c_ay);
      Serial.print(" | AcZ = ");
      Serial.print((AcZ1/16384.0)-c_az); 
      Serial.print(" | GyX = ");
      Serial.print((GyX1/131.0)-g_ax); 
      Serial.print(" | GyY = "); 
      Serial.print((GyY1/131.0)-g_ay);
      Serial.print(" | GyZ = ");
      Serial.println((GyZ1/131.0)-g_az); 
//      Serial.println(c_ax);
//      Serial.println(c_ay);
//      Serial.println(c_az);
//      Serial.println(g_ax);
//      Serial.println(g_ay);
//      Serial.println(g_az);
     }
     
     
 void GetMpuValue2(const int MPU){ 
   
      Wire.beginTransmission(MPU); 
      Wire.write(0x3B); // starting with register 0x3B (ACCEL_XOUT_H) 
      Wire.endTransmission(false);
      Wire.requestFrom(MPU, 14, true); // request a total of 14 registers 
      AcX2=Wire.read()<<8| Wire.read(); // 0x3B (ACCEL_XOUT_H) & 0x3C (ACCEL_XOUT_L) 
      AcY2=Wire.read()<<8|  Wire.read(); // 0x3D (ACCEL_YOUT_H) & 0x3E (ACCEL_YOUT_L)
      AcZ2=Wire.read()<<8| Wire.read(); // 0x3F (ACCEL_ZOUT_H) & 0x40 (ACCEL_ZOUT_L) 
      Tmp2=Wire.read()<<8| Wire.read(); // 0x41 (TEMP_OUT_H) & 0x42 (TEMP_OUT_L) 
      GyX2=Wire.read()<<8| Wire.read(); // 0x43 (GYRO_XOUT_H) & 0x44 (GYRO_XOUT_L) 
      GyY2=Wire.read()<<8| Wire.read(); // 0x45 (GYRO_YOUT_H) & 0x46 (GYRO_YOUT_L) 
      GyZ2=Wire.read()<<8| Wire.read(); // 0x47 (GYRO_ZOUT_H) & 0x48 (GYRO_ZOUT_L) 
//      Serial.print("AcX = ");
//      Serial.print(AcX2);
//      Serial.print(" | AcY = "); 
//      Serial.print(AcY2);
//      Serial.print(" | AcZ = ");
//      Serial.print(AcZ2);  
//      Serial.print(" | GyX = ");
//      Serial.print(GyX2); 
//      Serial.print(" | GyY = "); 
//      Serial.print(GyY2);
//      Serial.print(" | GyZ = ");
//      Serial.println(GyZ2); 
     }

      void loop(){
   
      //get values for first mpu having address of 0x68   
      GetMpuValue1(MPU1);
      Serial.print("  ");
//      Serial.print("|||");
      
      //get values for second mpu having address of 0x69
      GetMpuValue2(MPU2);
      Serial.println("");
      if(Serial.available()){
        Serial.println("reset");
        Serial.read();
          c_ax = AcX1/16384.0;
          c_ay = AcY1/16384.0;
          c_az = AcZ1/16384.0;
          g_ax = GyX1/131.0;
          g_ay = GyY1/131.0;
          g_az = GyZ1/131.0;

      }
      delay(100);
    }