#include "Wire.h"  // Arduino Wire library
#include "I2Cdev.h"  //Installer ces 2 librairies
#include "MPU6050.h"

MPU6050 accelgyro;

int16_t ax, ay, az;  //mesures brutes
int16_t gx, gy, gz;
float angle=0;

void setup() {
  Wire.begin();  //I2C bus
  //Serial.begin(9600); 
  Serial.begin(9600);
  while (!Serial) {
    ; // wait for serial port to connect. Needed for native USB (LEONARDO)
  }
  // initialize device
  accelgyro.initialize();
}

void loop() {
  accelgyro.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);
  angle=angle+float(gy)*0.01/131; // 131 cf doc MPU6050 et 0.01=dt en s

  Serial.println(angle); 
  delay(10);    
}