MPU-6050 readings over I2C on an Arduino Uno

// An MPU-6050 on the I2C bus: raw acceleration, temperature and rotation.
//
//   GY-521 VCC -> 5V   GND -> GND   SCL -> A5   SDA -> A4
//
// The chip answers at I2C address 0x68. It wakes up asleep, so the sketch
// first writes 0 to its power register (0x6B). After that, fourteen bytes
// starting at register 0x3B hold three accelerations, the temperature and
// three rotation rates, each a 16-bit number sent high byte first.
//
// At rest and flat, Z reads about 16384: that is 1 g, gravity, on the
// default range. Drag the board's pitch or roll and watch X and Y take some
// of it.

#include <Wire.h>

const int MPU = 0x68;

int16_t readWord() {
  int16_t high = Wire.read();
  int16_t low = Wire.read();
  return (high << 8) | low;
}

void setup() {
  Wire.begin();
  Wire.beginTransmission(MPU);
  Wire.write(0x6B);
  Wire.write(0);
  Wire.endTransmission(true);
  Serial.begin(9600);
  Serial.println("Mokxi Uno: MPU-6050 on A4 (SDA) and A5 (SCL)");
}

void loop() {
  Wire.beginTransmission(MPU);
  Wire.write(0x3B);
  Wire.endTransmission(false);
  Wire.requestFrom(MPU, 14, true);
  int16_t ax = readWord();
  int16_t ay = readWord();
  int16_t az = readWord();
  int16_t raw = readWord();
  int16_t gx = readWord();
  int16_t gy = readWord();
  int16_t gz = readWord();

  Serial.print("AcX = "); Serial.print(ax);
  Serial.print(" | AcY = "); Serial.print(ay);
  Serial.print(" | AcZ = "); Serial.print(az);
  Serial.print(" | Tmp = "); Serial.print(raw / 340.0 + 36.53, 1);
  Serial.print(" | GyX = "); Serial.print(gx);
  Serial.print(" | GyY = "); Serial.print(gy);
  Serial.print(" | GyZ = "); Serial.println(gz);
  delay(500);
}