Pico W MPU6050 acceleration and rotation

# 6-axis motion tracking: an MPU6050 on I2C1 (SDA GP6, SCL GP7).
# mpu6050.py, in its own tab, wakes it and reads acceleration in g
# and rotation in degrees a second.
from machine import I2C, Pin
from mpu6050 import MPU6050
import time

i2c = I2C(1, sda=Pin(6), scl=Pin(7), freq=400000)
mpu = MPU6050(i2c)

while True:
    ax, ay, az = mpu.accel()
    gx, gy, gz = mpu.gyro()
    print("accel x %.2f y %.2f z %.2f g" % (ax, ay, az))
    print("gyro  x %.1f y %.1f z %.1f deg/s" % (gx, gy, gz))
    time.sleep_ms(500)

# mpu6050.py: read an MPU6050's accelerometer and gyroscope over I2C.
# At power-up the chip is asleep; writing 0 to register 0x6B wakes it.
# The default ranges are +-2 g (16384 counts a g) and +-250 degrees a
# second (131 counts a degree a second).
import struct

class MPU6050:
    def __init__(self, i2c, addr=0x68):
        self.i2c = i2c
        self.addr = addr
        i2c.writeto_mem(addr, 0x6B, bytes([0]))

    def raw(self):
        data = self.i2c.readfrom_mem(self.addr, 0x3B, 14)
        return struct.unpack(">hhhhhhh", data)   # ax ay az temp gx gy gz

    def accel(self):
        ax, ay, az = self.raw()[0:3]
        return ax / 16384, ay / 16384, az / 16384

    def gyro(self):
        gx, gy, gz = self.raw()[4:7]
        return gx / 131, gy / 131, gz / 131