MicroPython MPU6050 on a Pico: acceleration and rotation

# An MPU6050 on I2C bus 1 (SCL GP15, SDA GP14): raw readings, and the same
# turned into g and degrees per second, once a second. mpu6050.py is in
# the next tab.
from machine import I2C, Pin
import time
from mpu6050 import MPU6050

i2c = I2C(1, scl=Pin(15), sda=Pin(14), freq=400000)
print("I2C:", [hex(a) for a in i2c.scan()])
mpu = MPU6050(i2c)

while True:
    accel, gyro, temp = mpu.read()
    print("accel raw", accel, "gyro raw", gyro)
    print("accel g  %.2f %.2f %.2f" % tuple(a / 16384 for a in accel))
    print("gyro dps %.1f %.1f %.1f" % tuple(g / 131 for g in gyro))
    time.sleep(1)

# mpu6050.py: an MPU6050 accelerometer and gyroscope on I2C.
# Register 0x6B wakes it up; fourteen bytes from 0x3B are the acceleration,
# the temperature and the rotation, each a signed 16-bit number, high byte first.
import struct

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

    def read(self):
        data = self.i2c.readfrom_mem(self.addr, 0x3B, 14)
        ax, ay, az, t, gx, gy, gz = struct.unpack(">hhhhhhh", data)
        return (ax, ay, az), (gx, gy, gz), t / 340 + 36.53