diff --git a/labyrinthe/6-jumeaux/labyrinthe.mtl b/labyrinthe/6-jumeaux/labyrinthe.mtl
deleted file mode 100644
index b9e1b61..0000000
--- a/labyrinthe/6-jumeaux/labyrinthe.mtl
+++ /dev/null
@@ -1,62 +0,0 @@
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diff --git a/labyrinthe/6-jumeaux/labyrinthe.obj b/labyrinthe/6-jumeaux/labyrinthe.obj
deleted file mode 100644
index ab1e978..0000000
--- a/labyrinthe/6-jumeaux/labyrinthe.obj
+++ /dev/null
@@ -1,40220 +0,0 @@
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-usemtl Transparent
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-usemtl Bleu
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-usemtl Noir
-s off
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-s 1
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diff --git a/labyrinthe/6-jumeaux/test/capteur_I2C.py b/labyrinthe/6-jumeaux/test/capteur_I2C.py
new file mode 100644
index 0000000..9c4e55a
--- /dev/null
+++ b/labyrinthe/6-jumeaux/test/capteur_I2C.py
@@ -0,0 +1,253 @@
+g#   Copyright (c) 2016, Xilinx, Inc.
+#   SPDX-License-Identifier: BSD-3-Clause
+
+
+import math
+from . import Arduino
+from . import ARDUINO_GROVE_I2C
+
+
+
+
+ARDUINO_GROVE_IMU_PROGRAM = "arduino_grove_imu.bin"
+CONFIG_IOP_SWITCH = 0x1
+GET_ACCL_DATA = 0x3
+GET_GYRO_DATA = 0x5
+GET_COMPASS_DATA = 0x7
+GET_TEMPERATURE = 0xB
+GET_PRESSURE = 0xD
+RESET = 0xF
+
+
+def _reg2float(reg):
+    """Converts 32-bit register value to floats in Python.
+
+    Parameters
+    ----------
+    reg: int
+        A 32-bit register value read from the mailbox.
+
+    Returns
+    -------
+    float
+        A float number translated from the register value.
+
+    """
+    if reg == 0:
+        return 0.0
+    sign = (reg & 0x80000000) >> 31 & 0x01
+    exp = ((reg & 0x7f800000) >> 23) - 127
+    if exp == 0:
+        man = (reg & 0x007fffff) / pow(2, 23)
+    else:
+        man = 1 + (reg & 0x007fffff) / pow(2, 23)
+    result = pow(2, exp) * man * ((sign * -2) + 1)
+    return float("{0:.2f}".format(result))
+
+
+def _reg2int(reg):
+    """Converts 32-bit register value to signed integer in Python.
+
+    Parameters
+    ----------
+    reg: int
+        A 32-bit register value read from the mailbox.
+
+    Returns
+    -------
+    int
+        A signed integer translated from the register value.
+
+    """
+    result = -(reg >> 31 & 0x1) * (1 << 31)
+    for i in range(31):
+        result += (reg >> i & 0x1) * (1 << i)
+    return result
+
+
+class Grove_IMU(object):
+    """This class controls the Grove IIC IMU. 
+    
+    Grove IMU 10DOF is a combination of grove IMU 9DOF (MPU9250) and grove 
+    barometer sensor (BMP180). MPU-9250 is a 9-axis motion tracking device 
+    that combines a 3-axis gyroscope, 3-axis accelerometer, 3-axis 
+    magnetometer and a Digital Motion Processor (DMP). BMP180 is a high 
+    precision, low power digital pressure sensor. Hardware version: v1.1.
+    
+    Attributes
+    ----------
+    microblaze : Arduino
+        Microblaze processor instance used by this module.
+        
+    """
+    def __init__(self, mb_info, gr_pin):
+        """Return a new instance of an Grove IMU object. 
+        
+        Parameters
+        ----------
+        mb_info : dict
+            A dictionary storing Microblaze information, such as the
+            IP name and the reset name.
+        gr_pin: list
+            A group of pins on arduino-grove shield.
+
+        """
+        if gr_pin not in [ARDUINO_GROVE_I2C]:
+            raise ValueError("Group number can only be I2C.")
+
+        self.microblaze = Arduino(mb_info, ARDUINO_GROVE_IMU_PROGRAM)
+        self.reset()
+
+    def reset(self):
+        """Reset all the sensors on the grove IMU.
+            
+        Returns
+        -------
+        None
+        
+        """
+        self.microblaze.write_blocking_command(RESET)
+        
+    def get_accl(self):
+        """Get the data from the accelerometer.
+        
+        Returns
+        -------
+        list
+            A list of the acceleration data along X-axis, Y-axis, and Z-axis.
+        
+        """
+        self.microblaze.write_blocking_command(GET_ACCL_DATA)
+        data = self.microblaze.read_mailbox(0, 3)
+        [ax, ay, az] = [_reg2int(i) for i in data]
+        return [float("{0:.2f}".format(ax / 16384)),
+                float("{0:.2f}".format(ay / 16384)),
+                float("{0:.2f}".format(az / 16384))]
+        
+    def get_gyro(self):
+        """Get the data from the gyroscope.
+        
+        Returns
+        -------
+        list
+            A list of the gyro data along X-axis, Y-axis, and Z-axis.
+        
+        """
+        self.microblaze.write_blocking_command(GET_GYRO_DATA)
+        data = self.microblaze.read_mailbox(0, 3)
+        [gx, gy, gz] = [_reg2int(i) for i in data]
+        return [float("{0:.2f}".format(gx * 250 / 32768)),
+                float("{0:.2f}".format(gy * 250 / 32768)),
+                float("{0:.2f}".format(gz * 250 / 32768))]
+
+    def get_compass(self):
+        """Get the data from the magnetometer.
+        
+        Returns
+        -------
+        list
+            A list of the compass data along X-axis, Y-axis, and Z-axis.
+        
+        """
+        self.microblaze.write_blocking_command(GET_COMPASS_DATA)
+        data = self.microblaze.read_mailbox(0, 3)
+        [mx, my, mz] = [_reg2int(i) for i in data]
+        return [float("{0:.2f}".format(mx * 1200 / 4096)),
+                float("{0:.2f}".format(my * 1200 / 4096)),
+                float("{0:.2f}".format(mz * 1200 / 4096))]
+
+    def get_heading(self):
+        """Get the value of the heading.
+        
+        Returns
+        -------
+        float
+            The angle deviated from the X-axis, toward the positive Y-axis.
+        
+        """
+        [mx, my, _] = self.get_compass()
+        heading = 180 * math.atan2(my, mx) / math.pi
+        if heading < 0:
+            heading += 360
+        return float("{0:.2f}".format(heading))
+
+    def get_tilt_heading(self):
+        """Get the value of the tilt heading.
+        
+        Returns
+        -------
+        float
+            The tilt heading value.
+        
+        """
+        [ax, ay, _] = self.get_accl()
+        [mx, my, mz] = self.get_compass()
+
+        try:
+            pitch = math.asin(-ax)
+            roll = math.asin(ay / math.cos(pitch))
+        except ZeroDivisionError:
+            raise RuntimeError("Value out of range or device not connected.")
+
+        xh = mx * math.cos(pitch) + mz * math.sin(pitch)
+        yh = mx * math.sin(roll) * math.sin(pitch) + \
+            my * math.cos(roll) - mz * math.sin(roll) * math.cos(pitch)
+        _ = -mx * math.cos(roll) * math.sin(pitch) + \
+            my * math.sin(roll) + mz * math.cos(roll) * math.cos(pitch)
+        tilt_heading = 180 * math.atan2(yh, xh) / math.pi
+        if yh < 0:
+            tilt_heading += 360
+        return float("{0:.2f}".format(tilt_heading))
+        
+    def get_temperature(self):
+        """Get the current temperature in degree C.
+        
+        Returns
+        -------
+        float
+            The temperature value.
+        
+        """
+        self.microblaze.write_blocking_command(GET_TEMPERATURE)
+        value = self.microblaze.read_mailbox(0)
+        return _reg2float(value)
+        
+    def get_pressure(self):
+        """Get the current pressure in Pa.
+        
+        Returns
+        -------
+        float
+            The pressure value.
+        
+        """
+        self.microblaze.write_blocking_command(GET_PRESSURE)
+        value = self.microblaze.read_mailbox(0)
+        return _reg2float(value)
+        
+    def get_atm(self):
+        """Get the current pressure in relative atmosphere.
+
+        Returns
+        -------
+        float
+            The related atmosphere.
+        
+        """
+        return float("{0:.2f}".format(self.get_pressure() / 101325))
+        
+    def get_altitude(self):
+        """Get the current altitude.
+        
+        Returns
+        -------
+        float
+            The altitude value.
+        
+        """
+        pressure = self.get_pressure()
+        a = pressure / 101325
+        b = 1 / 5.255
+        c = 1 - pow(a, b)
+        altitude = 44300 * c
+        return float("{0:.2f}".format(altitude))
diff --git a/labyrinthe/6-jumeaux/test/imu-test.py b/labyrinthe/6-jumeaux/test/imu-test.py
new file mode 100644
index 0000000..cd63fd7
--- /dev/null
+++ b/labyrinthe/6-jumeaux/test/imu-test.py
@@ -0,0 +1,30 @@
+import pyfirmata
+
+###############################################################################
+# servo-test.py :
+# @title:  Test de pilotage d'un servomoteur par pyFirmata
+# @project: Blender-EduTech - Tutoriel : Tutoriel 6 : Labyrinthe à bille - Développement de jumeau numérique
+# @lang: fr
+# @authors: Philippe Roy <philippe.roy@ac-grenoble.fr>, Andre Nicolas <Nicolas.Andre@ac-grenoble.fr>
+# @copyright: Copyright (C) 2023 Philippe Roy
+# @license: GNU GPL
+###############################################################################
+
+# Communication avec la carte Arduino
+# carte = pyfirmata.Arduino('COM3') # Windows
+carte = pyfirmata.Arduino('/dev/ttyACM1') # GNU/Linux
+print("Communication Carte Arduino établie")
+
+servo = carte.get_pin('d:9:s') # Servomoteur sur la broche D9
+
+try :
+    while True: # Boucle infinie
+        print ("Angle :", servo.read())
+        angle = int(input("Entrer un angle entre 10 et 170) : ")) # Demande à l’utilisateur d’entrer la valeur de l’angle
+        if angle < 10 : # Si la valeur entrée est inférieure à 10° on bloque le servomoteur à 10°
+            angle = 10
+        elif angle > 170 : # Si la valeur entrée est supérieure à 170° on bloque le servomoteur à 170°
+            angle = 170
+        servo.write(angle) # Ecrit cette valeur sur la broche du servomoteur
+except :
+    carte.exit()
diff --git a/labyrinthe/6-jumeaux/test/manette-test/I2Cdev.cpp b/labyrinthe/6-jumeaux/test/manette-test/I2Cdev.cpp
new file mode 100755
index 0000000..7f52fe0
--- /dev/null
+++ b/labyrinthe/6-jumeaux/test/manette-test/I2Cdev.cpp
@@ -0,0 +1,1466 @@
+// I2Cdev library collection - Main I2C device class
+// Abstracts bit and byte I2C R/W functions into a convenient class
+// 6/9/2012 by Jeff Rowberg <jeff@rowberg.net>
+//
+// Changelog:
+//     2012-06-09 - fix major issue with reading > 32 bytes at a time with Arduino Wire
+//                - add compiler warnings when using outdated or IDE or limited I2Cdev implementation
+//     2011-11-01 - fix write*Bits mask calculation (thanks sasquatch @ Arduino forums)
+//     2011-10-03 - added automatic Arduino version detection for ease of use
+//     2011-10-02 - added Gene Knight's NBWire TwoWire class implementation with small modifications
+//     2011-08-31 - added support for Arduino 1.0 Wire library (methods are different from 0.x)
+//     2011-08-03 - added optional timeout parameter to read* methods to easily change from default
+//     2011-08-02 - added support for 16-bit registers
+//                - fixed incorrect Doxygen comments on some methods
+//                - added timeout value for read operations (thanks mem @ Arduino forums)
+//     2011-07-30 - changed read/write function structures to return success or byte counts
+//                - made all methods static for multi-device memory savings
+//     2011-07-28 - initial release
+
+/*  ============================================
+    I2Cdev device library code is placed under the MIT license
+    Copyright (c) 2012 Jeff Rowberg
+
+    Permission is hereby granted, free of charge, to any person obtaining a copy
+    of this software and associated documentation files (the "Software"), to deal
+    in the Software without restriction, including without limitation the rights
+    to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+    copies of the Software, and to permit persons to whom the Software is
+    furnished to do so, subject to the following conditions:
+
+    The above copyright notice and this permission notice shall be included in
+    all copies or substantial portions of the Software.
+
+    THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+    IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+    FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+    AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+    LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+    OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+    THE SOFTWARE.
+    ===============================================
+*/
+
+#include "I2Cdev.h"
+
+#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
+
+    #ifdef I2CDEV_IMPLEMENTATION_WARNINGS
+        #if ARDUINO < 100
+            #warning Using outdated Arduino IDE with Wire library is functionally limiting.
+            #warning Arduino IDE v1.0.1+ with I2Cdev Fastwire implementation is recommended.
+            #warning This I2Cdev implementation does not support:
+            #warning - Repeated starts conditions
+            #warning - Timeout detection (some Wire requests block forever)
+        #elif ARDUINO == 100
+            #warning Using outdated Arduino IDE with Wire library is functionally limiting.
+            #warning Arduino IDE v1.0.1+ with I2Cdev Fastwire implementation is recommended.
+            #warning This I2Cdev implementation does not support:
+            #warning - Repeated starts conditions
+            #warning - Timeout detection (some Wire requests block forever)
+        #elif ARDUINO > 100
+            /*
+            #warning Using current Arduino IDE with Wire library is functionally limiting.
+            #warning Arduino IDE v1.0.1+ with I2CDEV_BUILTIN_FASTWIRE implementation is recommended.
+            #warning This I2Cdev implementation does not support:
+            #warning - Timeout detection (some Wire requests block forever)
+            */
+        #endif
+    #endif
+
+#elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE
+
+    #error The I2CDEV_BUILTIN_FASTWIRE implementation is known to be broken right now. Patience, Iago!
+
+#elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_NBWIRE
+
+    #ifdef I2CDEV_IMPLEMENTATION_WARNINGS
+        #warning Using I2CDEV_BUILTIN_NBWIRE implementation may adversely affect interrupt detection.
+        #warning This I2Cdev implementation does not support:
+        #warning - Repeated starts conditions
+    #endif
+
+    // NBWire implementation based heavily on code by Gene Knight <Gene@Telobot.com>
+    // Originally posted on the Arduino forum at http://arduino.cc/forum/index.php/topic,70705.0.html
+    // Originally offered to the i2cdevlib project at http://arduino.cc/forum/index.php/topic,68210.30.html
+    TwoWire Wire;
+
+#endif
+
+/** Default constructor.
+*/
+I2Cdev::I2Cdev() {
+}
+
+/** Read a single bit from an 8-bit device register.
+    @param devAddr I2C slave device address
+    @param regAddr Register regAddr to read from
+    @param bitNum Bit position to read (0-7)
+    @param data Container for single bit value
+    @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
+    @return Status of read operation (true = success)
+*/
+int8_t I2Cdev::readBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t* data, uint16_t timeout) {
+    uint8_t b;
+    uint8_t count = readByte(devAddr, regAddr, &b, timeout);
+    *data = b & (1 << bitNum);
+    return count;
+}
+
+/** Read a single bit from a 16-bit device register.
+    @param devAddr I2C slave device address
+    @param regAddr Register regAddr to read from
+    @param bitNum Bit position to read (0-15)
+    @param data Container for single bit value
+    @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
+    @return Status of read operation (true = success)
+*/
+int8_t I2Cdev::readBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t* data, uint16_t timeout) {
+    uint16_t b;
+    uint8_t count = readWord(devAddr, regAddr, &b, timeout);
+    *data = b & (1 << bitNum);
+    return count;
+}
+
+/** Read multiple bits from an 8-bit device register.
+    @param devAddr I2C slave device address
+    @param regAddr Register regAddr to read from
+    @param bitStart First bit position to read (0-7)
+    @param length Number of bits to read (not more than 8)
+    @param data Container for right-aligned value (i.e. '101' read from any bitStart position will equal 0x05)
+    @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
+    @return Status of read operation (true = success)
+*/
+int8_t I2Cdev::readBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t* data,
+                        uint16_t timeout) {
+    // 01101001 read byte
+    // 76543210 bit numbers
+    //    xxx   args: bitStart=4, length=3
+    //    010   masked
+    //   -> 010 shifted
+    uint8_t count, b;
+    if ((count = readByte(devAddr, regAddr, &b, timeout)) != 0) {
+        uint8_t mask = ((1 << length) - 1) << (bitStart - length + 1);
+        b &= mask;
+        b >>= (bitStart - length + 1);
+        *data = b;
+    }
+    return count;
+}
+
+/** Read multiple bits from a 16-bit device register.
+    @param devAddr I2C slave device address
+    @param regAddr Register regAddr to read from
+    @param bitStart First bit position to read (0-15)
+    @param length Number of bits to read (not more than 16)
+    @param data Container for right-aligned value (i.e. '101' read from any bitStart position will equal 0x05)
+    @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
+    @return Status of read operation (1 = success, 0 = failure, -1 = timeout)
+*/
+int8_t I2Cdev::readBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t* data,
+                         uint16_t timeout) {
+    // 1101011001101001 read byte
+    // fedcba9876543210 bit numbers
+    //    xxx           args: bitStart=12, length=3
+    //    010           masked
+    //           -> 010 shifted
+    uint8_t count;
+    uint16_t w;
+    if ((count = readWord(devAddr, regAddr, &w, timeout)) != 0) {
+        uint16_t mask = ((1 << length) - 1) << (bitStart - length + 1);
+        w &= mask;
+        w >>= (bitStart - length + 1);
+        *data = w;
+    }
+    return count;
+}
+
+/** Read single byte from an 8-bit device register.
+    @param devAddr I2C slave device address
+    @param regAddr Register regAddr to read from
+    @param data Container for byte value read from device
+    @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
+    @return Status of read operation (true = success)
+*/
+int8_t I2Cdev::readByte(uint8_t devAddr, uint8_t regAddr, uint8_t* data, uint16_t timeout) {
+    return readBytes(devAddr, regAddr, 1, data, timeout);
+}
+
+/** Read single word from a 16-bit device register.
+    @param devAddr I2C slave device address
+    @param regAddr Register regAddr to read from
+    @param data Container for word value read from device
+    @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
+    @return Status of read operation (true = success)
+*/
+int8_t I2Cdev::readWord(uint8_t devAddr, uint8_t regAddr, uint16_t* data, uint16_t timeout) {
+    return readWords(devAddr, regAddr, 1, data, timeout);
+}
+
+/** Read multiple bytes from an 8-bit device register.
+    @param devAddr I2C slave device address
+    @param regAddr First register regAddr to read from
+    @param length Number of bytes to read
+    @param data Buffer to store read data in
+    @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
+    @return Number of bytes read (-1 indicates failure)
+*/
+int8_t I2Cdev::readBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t* data, uint16_t timeout) {
+    #ifdef I2CDEV_SERIAL_DEBUG
+    Serial.print("I2C (0x");
+    Serial.print(devAddr, HEX);
+    Serial.print(") reading ");
+    Serial.print(length, DEC);
+    Serial.print(" bytes from 0x");
+    Serial.print(regAddr, HEX);
+    Serial.print("...");
+    #endif
+
+    int8_t count = 0;
+    uint32_t t1 = millis();
+
+    #if (I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE)
+
+    #if (ARDUINO < 100)
+    // Arduino v00xx (before v1.0), Wire library
+
+    // I2C/TWI subsystem uses internal buffer that breaks with large data requests
+    // so if user requests more than BUFFER_LENGTH bytes, we have to do it in
+    // smaller chunks instead of all at once
+    for (uint8_t k = 0; k < length; k += min(length, BUFFER_LENGTH)) {
+        Wire.beginTransmission(devAddr);
+        Wire.send(regAddr);
+        Wire.endTransmission();
+        Wire.beginTransmission(devAddr);
+        Wire.requestFrom(devAddr, (uint8_t)min(length - k, BUFFER_LENGTH));
+
+        for (; Wire.available() && (timeout == 0 || millis() - t1 < timeout); count++) {
+            data[count] = Wire.receive();
+            #ifdef I2CDEV_SERIAL_DEBUG
+            Serial.print(data[count], HEX);
+            if (count + 1 < length) {
+                Serial.print(" ");
+            }
+            #endif
+        }
+
+        Wire.endTransmission();
+    }
+    #elif (ARDUINO == 100)
+    // Arduino v1.0.0, Wire library
+    // Adds standardized write() and read() stream methods instead of send() and receive()
+
+    // I2C/TWI subsystem uses internal buffer that breaks with large data requests
+    // so if user requests more than BUFFER_LENGTH bytes, we have to do it in
+    // smaller chunks instead of all at once
+    for (uint8_t k = 0; k < length; k += min(length, BUFFER_LENGTH)) {
+        Wire.beginTransmission(devAddr);
+        Wire.write(regAddr);
+        Wire.endTransmission();
+        Wire.beginTransmission(devAddr);
+        Wire.requestFrom(devAddr, (uint8_t)min(length - k, BUFFER_LENGTH));
+
+        for (; Wire.available() && (timeout == 0 || millis() - t1 < timeout); count++) {
+            data[count] = Wire.read();
+            #ifdef I2CDEV_SERIAL_DEBUG
+            Serial.print(data[count], HEX);
+            if (count + 1 < length) {
+                Serial.print(" ");
+            }
+            #endif
+        }
+
+        Wire.endTransmission();
+    }
+    #elif (ARDUINO > 100)
+    // Arduino v1.0.1+, Wire library
+    // Adds official support for repeated start condition, yay!
+
+    // I2C/TWI subsystem uses internal buffer that breaks with large data requests
+    // so if user requests more than BUFFER_LENGTH bytes, we have to do it in
+    // smaller chunks instead of all at once
+    for (uint8_t k = 0; k < length; k += min(length, BUFFER_LENGTH)) {
+        Wire.beginTransmission(devAddr);
+        Wire.write(regAddr);
+        Wire.endTransmission();
+        Wire.beginTransmission(devAddr);
+        Wire.requestFrom(devAddr, (uint8_t)min(length - k, BUFFER_LENGTH));
+
+        for (; Wire.available() && (timeout == 0 || millis() - t1 < timeout); count++) {
+            data[count] = Wire.read();
+            #ifdef I2CDEV_SERIAL_DEBUG
+            Serial.print(data[count], HEX);
+            if (count + 1 < length) {
+                Serial.print(" ");
+            }
+            #endif
+        }
+
+        Wire.endTransmission();
+    }
+    #endif
+
+    #elif (I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE)
+    // Fastwire library (STILL UNDER DEVELOPMENT, NON-FUNCTIONAL!)
+
+    // no loop required for fastwire
+    uint8_t status = Fastwire::readBuf(devAddr, regAddr, data, length);
+    if (status == 0) {
+        count = length; // success
+    } else {
+        count = -1; // error
+    }
+
+    #endif
+
+    // check for timeout
+    if (timeout > 0 && millis() - t1 >= timeout && count < length) {
+        count = -1;    // timeout
+    }
+
+    #ifdef I2CDEV_SERIAL_DEBUG
+    Serial.print(". Done (");
+    Serial.print(count, DEC);
+    Serial.println(" read).");
+    #endif
+
+    return count;
+}
+
+/** Read multiple words from a 16-bit device register.
+    @param devAddr I2C slave device address
+    @param regAddr First register regAddr to read from
+    @param length Number of words to read
+    @param data Buffer to store read data in
+    @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
+    @return Number of words read (0 indicates failure)
+*/
+int8_t I2Cdev::readWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t* data, uint16_t timeout) {
+    #ifdef I2CDEV_SERIAL_DEBUG
+    Serial.print("I2C (0x");
+    Serial.print(devAddr, HEX);
+    Serial.print(") reading ");
+    Serial.print(length, DEC);
+    Serial.print(" words from 0x");
+    Serial.print(regAddr, HEX);
+    Serial.print("...");
+    #endif
+
+    int8_t count = 0;
+    uint32_t t1 = millis();
+
+    #if (I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE)
+
+    #if (ARDUINO < 100)
+    // Arduino v00xx (before v1.0), Wire library
+
+    // I2C/TWI subsystem uses internal buffer that breaks with large data requests
+    // so if user requests more than BUFFER_LENGTH bytes, we have to do it in
+    // smaller chunks instead of all at once
+    for (uint8_t k = 0; k < length * 2; k += min(length * 2, BUFFER_LENGTH)) {
+        Wire.beginTransmission(devAddr);
+        Wire.send(regAddr);
+        Wire.endTransmission();
+        Wire.beginTransmission(devAddr);
+        Wire.requestFrom(devAddr, (uint8_t)(length * 2)); // length=words, this wants bytes
+
+        bool msb = true; // starts with MSB, then LSB
+        for (; Wire.available() && count < length && (timeout == 0 || millis() - t1 < timeout);) {
+            if (msb) {
+                // first byte is bits 15-8 (MSb=15)
+                data[count] = Wire.receive() << 8;
+            } else {
+                // second byte is bits 7-0 (LSb=0)
+                data[count] |= Wire.receive();
+                #ifdef I2CDEV_SERIAL_DEBUG
+                Serial.print(data[count], HEX);
+                if (count + 1 < length) {
+                    Serial.print(" ");
+                }
+                #endif
+                count++;
+            }
+            msb = !msb;
+        }
+
+        Wire.endTransmission();
+    }
+    #elif (ARDUINO == 100)
+    // Arduino v1.0.0, Wire library
+    // Adds standardized write() and read() stream methods instead of send() and receive()
+
+    // I2C/TWI subsystem uses internal buffer that breaks with large data requests
+    // so if user requests more than BUFFER_LENGTH bytes, we have to do it in
+    // smaller chunks instead of all at once
+    for (uint8_t k = 0; k < length * 2; k += min(length * 2, BUFFER_LENGTH)) {
+        Wire.beginTransmission(devAddr);
+        Wire.write(regAddr);
+        Wire.endTransmission();
+        Wire.beginTransmission(devAddr);
+        Wire.requestFrom(devAddr, (uint8_t)(length * 2)); // length=words, this wants bytes
+
+        bool msb = true; // starts with MSB, then LSB
+        for (; Wire.available() && count < length && (timeout == 0 || millis() - t1 < timeout);) {
+            if (msb) {
+                // first byte is bits 15-8 (MSb=15)
+                data[count] = Wire.read() << 8;
+            } else {
+                // second byte is bits 7-0 (LSb=0)
+                data[count] |= Wire.read();
+                #ifdef I2CDEV_SERIAL_DEBUG
+                Serial.print(data[count], HEX);
+                if (count + 1 < length) {
+                    Serial.print(" ");
+                }
+                #endif
+                count++;
+            }
+            msb = !msb;
+        }
+
+        Wire.endTransmission();
+    }
+    #elif (ARDUINO > 100)
+    // Arduino v1.0.1+, Wire library
+    // Adds official support for repeated start condition, yay!
+
+    // I2C/TWI subsystem uses internal buffer that breaks with large data requests
+    // so if user requests more than BUFFER_LENGTH bytes, we have to do it in
+    // smaller chunks instead of all at once
+    for (uint8_t k = 0; k < length * 2; k += min(length * 2, BUFFER_LENGTH)) {
+        Wire.beginTransmission(devAddr);
+        Wire.write(regAddr);
+        Wire.endTransmission();
+        Wire.beginTransmission(devAddr);
+        Wire.requestFrom(devAddr, (uint8_t)(length * 2)); // length=words, this wants bytes
+
+        bool msb = true; // starts with MSB, then LSB
+        for (; Wire.available() && count < length && (timeout == 0 || millis() - t1 < timeout);) {
+            if (msb) {
+                // first byte is bits 15-8 (MSb=15)
+                data[count] = Wire.read() << 8;
+            } else {
+                // second byte is bits 7-0 (LSb=0)
+                data[count] |= Wire.read();
+                #ifdef I2CDEV_SERIAL_DEBUG
+                Serial.print(data[count], HEX);
+                if (count + 1 < length) {
+                    Serial.print(" ");
+                }
+                #endif
+                count++;
+            }
+            msb = !msb;
+        }
+
+        Wire.endTransmission();
+    }
+    #endif
+
+    #elif (I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE)
+    // Fastwire library (STILL UNDER DEVELOPMENT, NON-FUNCTIONAL!)
+
+    // no loop required for fastwire
+    uint16_t intermediate[(uint8_t)length];
+    uint8_t status = Fastwire::readBuf(devAddr, regAddr, (uint8_t*)intermediate, (uint8_t)(length * 2));
+    if (status == 0) {
+        count = length; // success
+        for (uint8_t i = 0; i < length; i++) {
+            data[i] = (intermediate[2 * i] << 8) | intermediate[2 * i + 1];
+        }
+    } else {
+        count = -1; // error
+    }
+
+    #endif
+
+    if (timeout > 0 && millis() - t1 >= timeout && count < length) {
+        count = -1;    // timeout
+    }
+
+    #ifdef I2CDEV_SERIAL_DEBUG
+    Serial.print(". Done (");
+    Serial.print(count, DEC);
+    Serial.println(" read).");
+    #endif
+
+    return count;
+}
+
+/** write a single bit in an 8-bit device register.
+    @param devAddr I2C slave device address
+    @param regAddr Register regAddr to write to
+    @param bitNum Bit position to write (0-7)
+    @param value New bit value to write
+    @return Status of operation (true = success)
+*/
+bool I2Cdev::writeBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t data) {
+    uint8_t b;
+    readByte(devAddr, regAddr, &b);
+    b = (data != 0) ? (b | (1 << bitNum)) : (b & ~(1 << bitNum));
+    return writeByte(devAddr, regAddr, b);
+}
+
+/** write a single bit in a 16-bit device register.
+    @param devAddr I2C slave device address
+    @param regAddr Register regAddr to write to
+    @param bitNum Bit position to write (0-15)
+    @param value New bit value to write
+    @return Status of operation (true = success)
+*/
+bool I2Cdev::writeBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t data) {
+    uint16_t w;
+    readWord(devAddr, regAddr, &w);
+    w = (data != 0) ? (w | (1 << bitNum)) : (w & ~(1 << bitNum));
+    return writeWord(devAddr, regAddr, w);
+}
+
+/** Write multiple bits in an 8-bit device register.
+    @param devAddr I2C slave device address
+    @param regAddr Register regAddr to write to
+    @param bitStart First bit position to write (0-7)
+    @param length Number of bits to write (not more than 8)
+    @param data Right-aligned value to write
+    @return Status of operation (true = success)
+*/
+bool I2Cdev::writeBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t data) {
+    //      010 value to write
+    // 76543210 bit numbers
+    //    xxx   args: bitStart=4, length=3
+    // 00011100 mask byte
+    // 10101111 original value (sample)
+    // 10100011 original & ~mask
+    // 10101011 masked | value
+    uint8_t b;
+    if (readByte(devAddr, regAddr, &b) != 0) {
+        uint8_t mask = ((1 << length) - 1) << (bitStart - length + 1);
+        data <<= (bitStart - length + 1); // shift data into correct position
+        data &= mask; // zero all non-important bits in data
+        b &= ~(mask); // zero all important bits in existing byte
+        b |= data; // combine data with existing byte
+        return writeByte(devAddr, regAddr, b);
+    } else {
+        return false;
+    }
+}
+
+/** Write multiple bits in a 16-bit device register.
+    @param devAddr I2C slave device address
+    @param regAddr Register regAddr to write to
+    @param bitStart First bit position to write (0-15)
+    @param length Number of bits to write (not more than 16)
+    @param data Right-aligned value to write
+    @return Status of operation (true = success)
+*/
+bool I2Cdev::writeBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t data) {
+    //              010 value to write
+    // fedcba9876543210 bit numbers
+    //    xxx           args: bitStart=12, length=3
+    // 0001110000000000 mask byte
+    // 1010111110010110 original value (sample)
+    // 1010001110010110 original & ~mask
+    // 1010101110010110 masked | value
+    uint16_t w;
+    if (readWord(devAddr, regAddr, &w) != 0) {
+        uint8_t mask = ((1 << length) - 1) << (bitStart - length + 1);
+        data <<= (bitStart - length + 1); // shift data into correct position
+        data &= mask; // zero all non-important bits in data
+        w &= ~(mask); // zero all important bits in existing word
+        w |= data; // combine data with existing word
+        return writeWord(devAddr, regAddr, w);
+    } else {
+        return false;
+    }
+}
+
+/** Write single byte to an 8-bit device register.
+    @param devAddr I2C slave device address
+    @param regAddr Register address to write to
+    @param data New byte value to write
+    @return Status of operation (true = success)
+*/
+bool I2Cdev::writeByte(uint8_t devAddr, uint8_t regAddr, uint8_t data) {
+    return writeBytes(devAddr, regAddr, 1, &data);
+}
+
+/** Write single word to a 16-bit device register.
+    @param devAddr I2C slave device address
+    @param regAddr Register address to write to
+    @param data New word value to write
+    @return Status of operation (true = success)
+*/
+bool I2Cdev::writeWord(uint8_t devAddr, uint8_t regAddr, uint16_t data) {
+    return writeWords(devAddr, regAddr, 1, &data);
+}
+
+/** Write multiple bytes to an 8-bit device register.
+    @param devAddr I2C slave device address
+    @param regAddr First register address to write to
+    @param length Number of bytes to write
+    @param data Buffer to copy new data from
+    @return Status of operation (true = success)
+*/
+bool I2Cdev::writeBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t* data) {
+    #ifdef I2CDEV_SERIAL_DEBUG
+    Serial.print("I2C (0x");
+    Serial.print(devAddr, HEX);
+    Serial.print(") writing ");
+    Serial.print(length, DEC);
+    Serial.print(" bytes to 0x");
+    Serial.print(regAddr, HEX);
+    Serial.print("...");
+    #endif
+    uint8_t status = 0;
+    #if ((I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO < 100) || I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_NBWIRE)
+    Wire.beginTransmission(devAddr);
+    Wire.send((uint8_t) regAddr); // send address
+    #elif (I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO >= 100)
+    Wire.beginTransmission(devAddr);
+    Wire.write((uint8_t) regAddr); // send address
+    #endif
+    for (uint8_t i = 0; i < length; i++) {
+        #if ((I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO < 100) || I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_NBWIRE)
+        Wire.send((uint8_t) data[i]);
+        #elif (I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO >= 100)
+        Wire.write((uint8_t) data[i]);
+        #elif (I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE)
+        status = Fastwire::write(devAddr, regAddr, data[i]);
+        Serial.println(status);
+        #endif
+        #ifdef I2CDEV_SERIAL_DEBUG
+        Serial.print(data[i], HEX);
+        if (i + 1 < length) {
+            Serial.print(" ");
+        }
+        #endif
+    }
+    #if ((I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO < 100) || I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_NBWIRE)
+    Wire.endTransmission();
+    #elif (I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO >= 100)
+    status = Wire.endTransmission();
+    #endif
+    #ifdef I2CDEV_SERIAL_DEBUG
+    Serial.println(". Done.");
+    #endif
+    return status == 0;
+}
+
+/** Write multiple words to a 16-bit device register.
+    @param devAddr I2C slave device address
+    @param regAddr First register address to write to
+    @param length Number of words to write
+    @param data Buffer to copy new data from
+    @return Status of operation (true = success)
+*/
+bool I2Cdev::writeWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t* data) {
+    #ifdef I2CDEV_SERIAL_DEBUG
+    Serial.print("I2C (0x");
+    Serial.print(devAddr, HEX);
+    Serial.print(") writing ");
+    Serial.print(length, DEC);
+    Serial.print(" words to 0x");
+    Serial.print(regAddr, HEX);
+    Serial.print("...");
+    #endif
+    uint8_t status = 0;
+    #if ((I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO < 100) || I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_NBWIRE)
+    Wire.beginTransmission(devAddr);
+    Wire.send(regAddr); // send address
+    #elif (I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO >= 100)
+    Wire.beginTransmission(devAddr);
+    Wire.write(regAddr); // send address
+    #endif
+    for (uint8_t i = 0; i < length * 2; i++) {
+        #if ((I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO < 100) || I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_NBWIRE)
+        Wire.send((uint8_t)(data[i++] >> 8)); // send MSB
+        Wire.send((uint8_t)data[i]);          // send LSB
+        #elif (I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO >= 100)
+        Wire.write((uint8_t)(data[i++] >> 8)); // send MSB
+        Wire.write((uint8_t)data[i]);          // send LSB
+        #elif (I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE)
+        status = Fastwire::write(devAddr, regAddr, (uint8_t)(data[i++] >> 8));
+        status = Fastwire::write(devAddr, regAddr + 1, (uint8_t)data[i]);
+        #endif
+        #ifdef I2CDEV_SERIAL_DEBUG
+        Serial.print(data[i], HEX);
+        if (i + 1 < length) {
+            Serial.print(" ");
+        }
+        #endif
+    }
+    #if ((I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO < 100) || I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_NBWIRE)
+    Wire.endTransmission();
+    #elif (I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO >= 100)
+    status = Wire.endTransmission();
+    #endif
+    #ifdef I2CDEV_SERIAL_DEBUG
+    Serial.println(". Done.");
+    #endif
+    return status == 0;
+}
+
+/** Default timeout value for read operations.
+    Set this to 0 to disable timeout detection.
+*/
+uint16_t I2Cdev::readTimeout = I2CDEV_DEFAULT_READ_TIMEOUT;
+
+#if I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE
+/*
+    FastWire 0.2
+    This is a library to help faster programs to read I2C devices.
+    Copyright(C) 2011 Francesco Ferrara
+    occhiobello at gmail dot com
+*/
+
+boolean Fastwire::waitInt() {
+    int l = 250;
+    while (!(TWCR & (1 << TWINT)) && l-- > 0);
+    return l > 0;
+}
+
+void Fastwire::setup(int khz, boolean pullup) {
+    TWCR = 0;
+    #if defined(__AVR_ATmega168__) || defined(__AVR_ATmega8__) || defined(__AVR_ATmega328P__)
+    // activate internal pull-ups for twi (PORTC bits 4 & 5)
+    // as per note from atmega8 manual pg167
+    if (pullup) {
+        PORTC |= ((1 << 4) | (1 << 5));
+    } else {
+        PORTC &= ~((1 << 4) | (1 << 5));
+    }
+    #elif defined(__AVR_ATmega644P__) || defined(__AVR_ATmega644__)
+    // activate internal pull-ups for twi (PORTC bits 0 & 1)
+    if (pullup) {
+        PORTC |= ((1 << 0) | (1 << 1));
+    } else {
+        PORTC &= ~((1 << 0) | (1 << 1));
+    }
+    #else
+    // activate internal pull-ups for twi (PORTD bits 0 & 1)
+    // as per note from atmega128 manual pg204
+    if (pullup) {
+        PORTD |= ((1 << 0) | (1 << 1));
+    } else {
+        PORTD &= ~((1 << 0) | (1 << 1));
+    }
+    #endif
+
+    TWSR = 0; // no prescaler => prescaler = 1
+    TWBR = ((16000L / khz) - 16) / 2; // change the I2C clock rate
+    TWCR = 1 << TWEN; // enable twi module, no interrupt
+}
+
+byte Fastwire::write(byte device, byte address, byte value) {
+    byte twst, retry;
+
+    retry = 2;
+    do {
+        TWCR = (1 << TWINT) | (1 << TWEN) | (1 << TWSTO) | (1 << TWSTA);
+        if (!waitInt()) {
+            return 1;
+        }
+        twst = TWSR & 0xF8;
+        if (twst != TW_START && twst != TW_REP_START) {
+            return 2;
+        }
+
+        TWDR = device & 0xFE; // send device address without read bit (1)
+        TWCR = (1 << TWINT) | (1 << TWEN);
+        if (!waitInt()) {
+            return 3;
+        }
+        twst = TWSR & 0xF8;
+    } while (twst == TW_MT_SLA_NACK && retry-- > 0);
+    if (twst != TW_MT_SLA_ACK) {
+        return 4;
+    }
+
+    TWDR = address; // send data to the previously addressed device
+    TWCR = (1 << TWINT) | (1 << TWEN);
+    if (!waitInt()) {
+        return 5;
+    }
+    twst = TWSR & 0xF8;
+    if (twst != TW_MT_DATA_ACK) {
+        return 6;
+    }
+
+    TWDR = value; // send data to the previously addressed device
+    TWCR = (1 << TWINT) | (1 << TWEN);
+    if (!waitInt()) {
+        return 7;
+    }
+    twst = TWSR & 0xF8;
+    if (twst != TW_MT_DATA_ACK) {
+        return 8;
+    }
+
+    return 0;
+}
+
+byte Fastwire::readBuf(byte device, byte address, byte* data, byte num) {
+    byte twst, retry;
+
+    retry = 2;
+    do {
+        TWCR = (1 << TWINT) | (1 << TWEN) | (1 << TWSTO) | (1 << TWSTA);
+        if (!waitInt()) {
+            return 16;
+        }
+        twst = TWSR & 0xF8;
+        if (twst != TW_START && twst != TW_REP_START) {
+            return 17;
+        }
+
+        TWDR = device & 0xfe; // send device address to write
+        TWCR = (1 << TWINT) | (1 << TWEN);
+        if (!waitInt()) {
+            return 18;
+        }
+        twst = TWSR & 0xF8;
+    } while (twst == TW_MT_SLA_NACK && retry-- > 0);
+    if (twst != TW_MT_SLA_ACK) {
+        return 19;
+    }
+
+    TWDR = address; // send data to the previously addressed device
+    TWCR = (1 << TWINT) | (1 << TWEN);
+    if (!waitInt()) {
+        return 20;
+    }
+    twst = TWSR & 0xF8;
+    if (twst != TW_MT_DATA_ACK) {
+        return 21;
+    }
+
+    /***/
+
+    retry = 2;
+    do {
+        TWCR = (1 << TWINT) | (1 << TWEN) | (1 << TWSTO) | (1 << TWSTA);
+        if (!waitInt()) {
+            return 22;
+        }
+        twst = TWSR & 0xF8;
+        if (twst != TW_START && twst != TW_REP_START) {
+            return 23;
+        }
+
+        TWDR = device | 0x01; // send device address with the read bit (1)
+        TWCR = (1 << TWINT) | (1 << TWEN);
+        if (!waitInt()) {
+            return 24;
+        }
+        twst = TWSR & 0xF8;
+    } while (twst == TW_MR_SLA_NACK && retry-- > 0);
+    if (twst != TW_MR_SLA_ACK) {
+        return 25;
+    }
+
+    for (uint8_t i = 0; i < num; i++) {
+        if (i == num - 1) {
+            TWCR = (1 << TWINT) | (1 << TWEN);
+        } else {
+            TWCR = (1 << TWINT) | (1 << TWEN) | (1 << TWEA);
+        }
+        if (!waitInt()) {
+            return 26;
+        }
+        twst = TWSR & 0xF8;
+        if (twst != TW_MR_DATA_ACK && twst != TW_MR_DATA_NACK) {
+            return twst;
+        }
+        data[i] = TWDR;
+    }
+
+    return 0;
+}
+#endif
+
+#if I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_NBWIRE
+// NBWire implementation based heavily on code by Gene Knight <Gene@Telobot.com>
+// Originally posted on the Arduino forum at http://arduino.cc/forum/index.php/topic,70705.0.html
+// Originally offered to the i2cdevlib project at http://arduino.cc/forum/index.php/topic,68210.30.html
+
+/*
+    call this version 1.0
+
+    Offhand, the only funky part that I can think of is in nbrequestFrom, where the buffer
+    length and index are set *before* the data is actually read. The problem is that these
+    are variables local to the TwoWire object, and by the time we actually have read the
+    data, and know what the length actually is, we have no simple access to the object's
+    variables. The actual bytes read *is* given to the callback function, though.
+
+    The ISR code for a slave receiver is commented out. I don't have that setup, and can't
+    verify it at this time. Save it for 2.0!
+
+    The handling of the read and write processes here is much like in the demo sketch code:
+    the process is broken down into sequential functions, where each registers the next as a
+    callback, essentially.
+
+    For example, for the Read process, twi_read00 just returns if TWI is not yet in a
+    ready state. When there's another interrupt, and the interface *is* ready, then it
+    sets up the read, starts it, and registers twi_read01 as the function to call after
+    the *next* interrupt. twi_read01, then, just returns if the interface is still in a
+    "reading" state. When the reading is done, it copies the information to the buffer,
+    cleans up, and calls the user-requested callback function with the actual number of
+    bytes read.
+
+    The writing is similar.
+
+    Questions, comments and problems can go to Gene@Telobot.com.
+
+    Thumbs Up!
+    Gene Knight
+
+*/
+
+uint8_t TwoWire::rxBuffer[NBWIRE_BUFFER_LENGTH];
+uint8_t TwoWire::rxBufferIndex = 0;
+uint8_t TwoWire::rxBufferLength = 0;
+
+uint8_t TwoWire::txAddress = 0;
+uint8_t TwoWire::txBuffer[NBWIRE_BUFFER_LENGTH];
+uint8_t TwoWire::txBufferIndex = 0;
+uint8_t TwoWire::txBufferLength = 0;
+
+//uint8_t TwoWire::transmitting = 0;
+void (*TwoWire::user_onRequest)(void);
+void (*TwoWire::user_onReceive)(int);
+
+static volatile uint8_t twi_transmitting;
+static volatile uint8_t twi_state;
+static uint8_t twi_slarw;
+static volatile uint8_t twi_error;
+static uint8_t twi_masterBuffer[TWI_BUFFER_LENGTH];
+static volatile uint8_t twi_masterBufferIndex;
+static uint8_t twi_masterBufferLength;
+static uint8_t twi_rxBuffer[TWI_BUFFER_LENGTH];
+static volatile uint8_t twi_rxBufferIndex;
+//static volatile uint8_t twi_Interrupt_Continue_Command;
+static volatile uint8_t twi_Return_Value;
+static volatile uint8_t twi_Done;
+void (*twi_cbendTransmissionDone)(int);
+void (*twi_cbreadFromDone)(int);
+
+void twi_init() {
+    // initialize state
+    twi_state = TWI_READY;
+
+    // activate internal pull-ups for twi
+    // as per note from atmega8 manual pg167
+    sbi(PORTC, 4);
+    sbi(PORTC, 5);
+
+    // initialize twi prescaler and bit rate
+    cbi(TWSR, TWPS0); // TWI Status Register - Prescaler bits
+    cbi(TWSR, TWPS1);
+
+    /*  twi bit rate formula from atmega128 manual pg 204
+        SCL Frequency = CPU Clock Frequency / (16 + (2 * TWBR))
+        note: TWBR should be 10 or higher for master mode
+        It is 72 for a 16mhz Wiring board with 100kHz TWI */
+
+    TWBR = ((CPU_FREQ / TWI_FREQ) - 16) / 2; // bitrate register
+    // enable twi module, acks, and twi interrupt
+
+    TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWEA);
+
+    /*  TWEN - TWI Enable Bit
+        TWIE - TWI Interrupt Enable
+        TWEA - TWI Enable Acknowledge Bit
+        TWINT - TWI Interrupt Flag
+        TWSTA - TWI Start Condition
+    */
+}
+
+typedef struct {
+    uint8_t address;
+    uint8_t* data;
+    uint8_t length;
+    uint8_t wait;
+    uint8_t i;
+} twi_Write_Vars;
+
+twi_Write_Vars* ptwv = 0;
+static void (*fNextInterruptFunction)(void) = 0;
+
+void twi_Finish(byte bRetVal) {
+    if (ptwv) {
+        free(ptwv);
+        ptwv = 0;
+    }
+    twi_Done = 0xFF;
+    twi_Return_Value = bRetVal;
+    fNextInterruptFunction = 0;
+}
+
+uint8_t twii_WaitForDone(uint16_t timeout) {
+    uint32_t endMillis = millis() + timeout;
+    while (!twi_Done && (timeout == 0 || millis() < endMillis)) {
+        continue;
+    }
+    return twi_Return_Value;
+}
+
+void twii_SetState(uint8_t ucState) {
+    twi_state = ucState;
+}
+
+void twii_SetError(uint8_t ucError) {
+    twi_error = ucError ;
+}
+
+void twii_InitBuffer(uint8_t ucPos, uint8_t ucLength) {
+    twi_masterBufferIndex = 0;
+    twi_masterBufferLength = ucLength;
+}
+
+void twii_CopyToBuf(uint8_t* pData, uint8_t ucLength) {
+    uint8_t i;
+    for (i = 0; i < ucLength; ++i) {
+        twi_masterBuffer[i] = pData[i];
+    }
+}
+
+void twii_CopyFromBuf(uint8_t* pData, uint8_t ucLength) {
+    uint8_t i;
+    for (i = 0; i < ucLength; ++i) {
+        pData[i] = twi_masterBuffer[i];
+    }
+}
+
+void twii_SetSlaRW(uint8_t ucSlaRW) {
+    twi_slarw = ucSlaRW;
+}
+
+void twii_SetStart() {
+    TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWEA) | _BV(TWINT) | _BV(TWSTA);
+}
+
+void twi_write01() {
+    if (TWI_MTX == twi_state) {
+        return;    // blocking test
+    }
+    twi_transmitting = 0 ;
+    if (twi_error == 0xFF) {
+        twi_Finish(0);    // success
+    } else if (twi_error == TW_MT_SLA_NACK) {
+        twi_Finish(2);    // error: address send, nack received
+    } else if (twi_error == TW_MT_DATA_NACK) {
+        twi_Finish(3);    // error: data send, nack received
+    } else {
+        twi_Finish(4);    // other twi error
+    }
+    if (twi_cbendTransmissionDone) {
+        return twi_cbendTransmissionDone(twi_Return_Value);
+    }
+    return;
+}
+
+
+void twi_write00() {
+    if (TWI_READY != twi_state) {
+        return;    // blocking test
+    }
+    if (TWI_BUFFER_LENGTH < ptwv -> length) {
+        twi_Finish(1); // end write with error 1
+        return;
+    }
+    twi_Done = 0x00; // show as working
+    twii_SetState(TWI_MTX); // to transmitting
+    twii_SetError(0xFF); // to No Error
+    twii_InitBuffer(0, ptwv -> length); // pointer and length
+    twii_CopyToBuf(ptwv -> data, ptwv -> length); // get the data
+    twii_SetSlaRW((ptwv -> address << 1) | TW_WRITE); // write command
+    twii_SetStart(); // start the cycle
+    fNextInterruptFunction = twi_write01; // next routine
+    return twi_write01();
+}
+
+void twi_writeTo(uint8_t address, uint8_t* data, uint8_t length, uint8_t wait) {
+    uint8_t i;
+    ptwv = (twi_Write_Vars*)malloc(sizeof(twi_Write_Vars));
+    ptwv -> address = address;
+    ptwv -> data = data;
+    ptwv -> length = length;
+    ptwv -> wait = wait;
+    fNextInterruptFunction = twi_write00;
+    return twi_write00();
+}
+
+void twi_read01() {
+    if (TWI_MRX == twi_state) {
+        return;    // blocking test
+    }
+    if (twi_masterBufferIndex < ptwv -> length) {
+        ptwv -> length = twi_masterBufferIndex;
+    }
+    twii_CopyFromBuf(ptwv -> data, ptwv -> length);
+    twi_Finish(ptwv -> length);
+    if (twi_cbreadFromDone) {
+        return twi_cbreadFromDone(twi_Return_Value);
+    }
+    return;
+}
+
+void twi_read00() {
+    if (TWI_READY != twi_state) {
+        return;    // blocking test
+    }
+    if (TWI_BUFFER_LENGTH < ptwv -> length) {
+        twi_Finish(0);    // error return
+    }
+    twi_Done = 0x00; // show as working
+    twii_SetState(TWI_MRX); // reading
+    twii_SetError(0xFF); // reset error
+    twii_InitBuffer(0, ptwv -> length - 1); // init to one less than length
+    twii_SetSlaRW((ptwv -> address << 1) | TW_READ); // read command
+    twii_SetStart(); // start cycle
+    fNextInterruptFunction = twi_read01;
+    return twi_read01();
+}
+
+void twi_readFrom(uint8_t address, uint8_t* data, uint8_t length) {
+    uint8_t i;
+
+    ptwv = (twi_Write_Vars*)malloc(sizeof(twi_Write_Vars));
+    ptwv -> address = address;
+    ptwv -> data = data;
+    ptwv -> length = length;
+    fNextInterruptFunction = twi_read00;
+    return twi_read00();
+}
+
+void twi_reply(uint8_t ack) {
+    // transmit master read ready signal, with or without ack
+    if (ack) {
+        TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWINT) | _BV(TWEA);
+    } else {
+        TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWINT);
+    }
+}
+
+void twi_stop(void) {
+    // send stop condition
+    TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWEA) | _BV(TWINT) | _BV(TWSTO);
+
+    // wait for stop condition to be exectued on bus
+    // TWINT is not set after a stop condition!
+    while (TWCR & _BV(TWSTO)) {
+        continue;
+    }
+
+    // update twi state
+    twi_state = TWI_READY;
+}
+
+void twi_releaseBus(void) {
+    // release bus
+    TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWEA) | _BV(TWINT);
+
+    // update twi state
+    twi_state = TWI_READY;
+}
+
+SIGNAL(TWI_vect) {
+    switch (TW_STATUS) {
+        // All Master
+        case TW_START:     // sent start condition
+        case TW_REP_START: // sent repeated start condition
+            // copy device address and r/w bit to output register and ack
+            TWDR = twi_slarw;
+            twi_reply(1);
+            break;
+
+        // Master Transmitter
+        case TW_MT_SLA_ACK:  // slave receiver acked address
+        case TW_MT_DATA_ACK: // slave receiver acked data
+            // if there is data to send, send it, otherwise stop
+            if (twi_masterBufferIndex < twi_masterBufferLength) {
+                // copy data to output register and ack
+                TWDR = twi_masterBuffer[twi_masterBufferIndex++];
+                twi_reply(1);
+            } else {
+                twi_stop();
+            }
+            break;
+
+        case TW_MT_SLA_NACK:  // address sent, nack received
+            twi_error = TW_MT_SLA_NACK;
+            twi_stop();
+            break;
+
+        case TW_MT_DATA_NACK: // data sent, nack received
+            twi_error = TW_MT_DATA_NACK;
+            twi_stop();
+            break;
+
+        case TW_MT_ARB_LOST: // lost bus arbitration
+            twi_error = TW_MT_ARB_LOST;
+            twi_releaseBus();
+            break;
+
+        // Master Receiver
+        case TW_MR_DATA_ACK: // data received, ack sent
+            // put byte into buffer
+            twi_masterBuffer[twi_masterBufferIndex++] = TWDR;
+
+        case TW_MR_SLA_ACK:  // address sent, ack received
+            // ack if more bytes are expected, otherwise nack
+            if (twi_masterBufferIndex < twi_masterBufferLength) {
+                twi_reply(1);
+            } else {
+                twi_reply(0);
+            }
+            break;
+
+        case TW_MR_DATA_NACK: // data received, nack sent
+            // put final byte into buffer
+            twi_masterBuffer[twi_masterBufferIndex++] = TWDR;
+
+        case TW_MR_SLA_NACK: // address sent, nack received
+            twi_stop();
+            break;
+
+        // TW_MR_ARB_LOST handled by TW_MT_ARB_LOST case
+
+        // Slave Receiver (NOT IMPLEMENTED YET)
+        /*
+            case TW_SR_SLA_ACK:   // addressed, returned ack
+            case TW_SR_GCALL_ACK: // addressed generally, returned ack
+            case TW_SR_ARB_LOST_SLA_ACK:   // lost arbitration, returned ack
+            case TW_SR_ARB_LOST_GCALL_ACK: // lost arbitration, returned ack
+                // enter slave receiver mode
+                twi_state = TWI_SRX;
+
+                // indicate that rx buffer can be overwritten and ack
+                twi_rxBufferIndex = 0;
+                twi_reply(1);
+                break;
+
+            case TW_SR_DATA_ACK:       // data received, returned ack
+            case TW_SR_GCALL_DATA_ACK: // data received generally, returned ack
+                // if there is still room in the rx buffer
+                if (twi_rxBufferIndex < TWI_BUFFER_LENGTH) {
+                    // put byte in buffer and ack
+                    twi_rxBuffer[twi_rxBufferIndex++] = TWDR;
+                    twi_reply(1);
+                } else {
+                    // otherwise nack
+                    twi_reply(0);
+                }
+                break;
+
+            case TW_SR_STOP: // stop or repeated start condition received
+                // put a null char after data if there's room
+                if (twi_rxBufferIndex < TWI_BUFFER_LENGTH) {
+                    twi_rxBuffer[twi_rxBufferIndex] = 0;
+                }
+
+                // sends ack and stops interface for clock stretching
+                twi_stop();
+
+                // callback to user defined callback
+                twi_onSlaveReceive(twi_rxBuffer, twi_rxBufferIndex);
+
+                // since we submit rx buffer to "wire" library, we can reset it
+                twi_rxBufferIndex = 0;
+
+                // ack future responses and leave slave receiver state
+                twi_releaseBus();
+                break;
+
+            case TW_SR_DATA_NACK:       // data received, returned nack
+            case TW_SR_GCALL_DATA_NACK: // data received generally, returned nack
+                // nack back at master
+                twi_reply(0);
+                break;
+
+            // Slave Transmitter
+            case TW_ST_SLA_ACK:          // addressed, returned ack
+            case TW_ST_ARB_LOST_SLA_ACK: // arbitration lost, returned ack
+                // enter slave transmitter mode
+                twi_state = TWI_STX;
+
+                // ready the tx buffer index for iteration
+                twi_txBufferIndex = 0;
+
+                // set tx buffer length to be zero, to verify if user changes it
+                twi_txBufferLength = 0;
+
+                // request for txBuffer to be filled and length to be set
+                // note: user must call twi_transmit(bytes, length) to do this
+                twi_onSlaveTransmit();
+
+                // if they didn't change buffer & length, initialize it
+                if (0 == twi_txBufferLength) {
+                    twi_txBufferLength = 1;
+                    twi_txBuffer[0] = 0x00;
+                }
+
+                // transmit first byte from buffer, fall through
+
+            case TW_ST_DATA_ACK: // byte sent, ack returned
+                // copy data to output register
+                TWDR = twi_txBuffer[twi_txBufferIndex++];
+
+                // if there is more to send, ack, otherwise nack
+                if (twi_txBufferIndex < twi_txBufferLength) {
+                    twi_reply(1);
+                } else {
+                    twi_reply(0);
+                }
+                break;
+
+            case TW_ST_DATA_NACK: // received nack, we are done
+            case TW_ST_LAST_DATA: // received ack, but we are done already!
+                // ack future responses
+                twi_reply(1);
+                // leave slave receiver state
+                twi_state = TWI_READY;
+                break;
+        */
+
+        // all
+        case TW_NO_INFO:   // no state information
+            break;
+
+        case TW_BUS_ERROR: // bus error, illegal stop/start
+            twi_error = TW_BUS_ERROR;
+            twi_stop();
+            break;
+    }
+
+    if (fNextInterruptFunction) {
+        return fNextInterruptFunction();
+    }
+}
+
+TwoWire::TwoWire() { }
+
+void TwoWire::begin(void) {
+    rxBufferIndex = 0;
+    rxBufferLength = 0;
+
+    txBufferIndex = 0;
+    txBufferLength = 0;
+
+    twi_init();
+}
+
+void TwoWire::beginTransmission(uint8_t address) {
+    //beginTransmission((uint8_t)address);
+
+    // indicate that we are transmitting
+    twi_transmitting = 1;
+
+    // set address of targeted slave
+    txAddress = address;
+
+    // reset tx buffer iterator vars
+    txBufferIndex = 0;
+    txBufferLength = 0;
+}
+
+uint8_t TwoWire::endTransmission(uint16_t timeout) {
+    // transmit buffer (blocking)
+    //int8_t ret =
+    twi_cbendTransmissionDone = NULL;
+    twi_writeTo(txAddress, txBuffer, txBufferLength, 1);
+    int8_t ret = twii_WaitForDone(timeout);
+
+    // reset tx buffer iterator vars
+    txBufferIndex = 0;
+    txBufferLength = 0;
+
+    // indicate that we are done transmitting
+    // twi_transmitting = 0;
+    return ret;
+}
+
+void TwoWire::nbendTransmission(void (*function)(int)) {
+    twi_cbendTransmissionDone = function;
+    twi_writeTo(txAddress, txBuffer, txBufferLength, 1);
+    return;
+}
+
+void TwoWire::send(uint8_t data) {
+    if (twi_transmitting) {
+        // in master transmitter mode
+        // don't bother if buffer is full
+        if (txBufferLength >= NBWIRE_BUFFER_LENGTH) {
+            return;
+        }
+
+        // put byte in tx buffer
+        txBuffer[txBufferIndex] = data;
+        ++txBufferIndex;
+
+        // update amount in buffer
+        txBufferLength = txBufferIndex;
+    } else {
+        // in slave send mode
+        // reply to master
+        //twi_transmit(&data, 1);
+    }
+}
+
+uint8_t TwoWire::receive(void) {
+    // default to returning null char
+    // for people using with char strings
+    uint8_t value = 0;
+
+    // get each successive byte on each call
+    if (rxBufferIndex < rxBufferLength) {
+        value = rxBuffer[rxBufferIndex];
+        ++rxBufferIndex;
+    }
+
+    return value;
+}
+
+uint8_t TwoWire::requestFrom(uint8_t address, int quantity, uint16_t timeout) {
+    // clamp to buffer length
+    if (quantity > NBWIRE_BUFFER_LENGTH) {
+        quantity = NBWIRE_BUFFER_LENGTH;
+    }
+
+    // perform blocking read into buffer
+    twi_cbreadFromDone = NULL;
+    twi_readFrom(address, rxBuffer, quantity);
+    uint8_t read = twii_WaitForDone(timeout);
+
+    // set rx buffer iterator vars
+    rxBufferIndex = 0;
+    rxBufferLength = read;
+
+    return read;
+}
+
+void TwoWire::nbrequestFrom(uint8_t address, int quantity, void (*function)(int)) {
+    // clamp to buffer length
+    if (quantity > NBWIRE_BUFFER_LENGTH) {
+        quantity = NBWIRE_BUFFER_LENGTH;
+    }
+
+    // perform blocking read into buffer
+    twi_cbreadFromDone = function;
+    twi_readFrom(address, rxBuffer, quantity);
+    //uint8_t read = twii_WaitForDone();
+
+    // set rx buffer iterator vars
+    //rxBufferIndex = 0;
+    //rxBufferLength = read;
+
+    rxBufferIndex = 0;
+    rxBufferLength = quantity; // this is a hack
+
+    return; //read;
+}
+
+uint8_t TwoWire::available(void) {
+    return rxBufferLength - rxBufferIndex;
+}
+
+#endif
diff --git a/labyrinthe/6-jumeaux/test/manette-test/I2Cdev.h b/labyrinthe/6-jumeaux/test/manette-test/I2Cdev.h
new file mode 100755
index 0000000..9511fbb
--- /dev/null
+++ b/labyrinthe/6-jumeaux/test/manette-test/I2Cdev.h
@@ -0,0 +1,272 @@
+// I2Cdev library collection - Main I2C device class header file
+// Abstracts bit and byte I2C R/W functions into a convenient class
+// 6/9/2012 by Jeff Rowberg <jeff@rowberg.net>
+//
+// Changelog:
+//     2012-06-09 - fix major issue with reading > 32 bytes at a time with Arduino Wire
+//                - add compiler warnings when using outdated or IDE or limited I2Cdev implementation
+//     2011-11-01 - fix write*Bits mask calculation (thanks sasquatch @ Arduino forums)
+//     2011-10-03 - added automatic Arduino version detection for ease of use
+//     2011-10-02 - added Gene Knight's NBWire TwoWire class implementation with small modifications
+//     2011-08-31 - added support for Arduino 1.0 Wire library (methods are different from 0.x)
+//     2011-08-03 - added optional timeout parameter to read* methods to easily change from default
+//     2011-08-02 - added support for 16-bit registers
+//                - fixed incorrect Doxygen comments on some methods
+//                - added timeout value for read operations (thanks mem @ Arduino forums)
+//     2011-07-30 - changed read/write function structures to return success or byte counts
+//                - made all methods static for multi-device memory savings
+//     2011-07-28 - initial release
+
+/*  ============================================
+    I2Cdev device library code is placed under the MIT license
+    Copyright (c) 2012 Jeff Rowberg
+
+    Permission is hereby granted, free of charge, to any person obtaining a copy
+    of this software and associated documentation files (the "Software"), to deal
+    in the Software without restriction, including without limitation the rights
+    to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+    copies of the Software, and to permit persons to whom the Software is
+    furnished to do so, subject to the following conditions:
+
+    The above copyright notice and this permission notice shall be included in
+    all copies or substantial portions of the Software.
+
+    THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+    IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+    FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+    AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+    LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+    OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+    THE SOFTWARE.
+    ===============================================
+*/
+
+#ifndef _I2CDEV_H_
+#define _I2CDEV_H_
+
+// -----------------------------------------------------------------------------
+// I2C interface implementation setting
+// -----------------------------------------------------------------------------
+#define I2CDEV_IMPLEMENTATION       I2CDEV_ARDUINO_WIRE
+
+// comment this out if you are using a non-optimal IDE/implementation setting
+// but want the compiler to shut up about it
+#define I2CDEV_IMPLEMENTATION_WARNINGS
+
+// -----------------------------------------------------------------------------
+// I2C interface implementation options
+// -----------------------------------------------------------------------------
+#define I2CDEV_ARDUINO_WIRE         1 // Wire object from Arduino
+#define I2CDEV_BUILTIN_NBWIRE       2 // Tweaked Wire object from Gene Knight's NBWire project
+// ^^^ NBWire implementation is still buggy w/some interrupts!
+#define I2CDEV_BUILTIN_FASTWIRE     3 // FastWire object from Francesco Ferrara's project
+// ^^^ FastWire implementation in I2Cdev is INCOMPLETE!
+
+// -----------------------------------------------------------------------------
+// Arduino-style "Serial.print" debug constant (uncomment to enable)
+// -----------------------------------------------------------------------------
+//#define I2CDEV_SERIAL_DEBUG
+
+#ifdef ARDUINO
+    #if ARDUINO < 100
+        #include "WProgram.h"
+    #else
+        #include "Arduino.h"
+    #endif
+    #if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
+        #include <Wire.h>
+    #endif
+#else
+    #include "ArduinoWrapper.h"
+#endif
+
+// support Arduino M0
+#ifndef BUFFER_LENGTH
+    #define BUFFER_LENGTH 64
+#endif
+
+// 1000ms default read timeout (modify with "I2Cdev::readTimeout = [ms];")
+#define I2CDEV_DEFAULT_READ_TIMEOUT     1000
+
+class I2Cdev {
+  public:
+    I2Cdev();
+
+    static int8_t readBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t* data,
+                          uint16_t timeout = I2Cdev::readTimeout);
+    static int8_t readBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t* data,
+                           uint16_t timeout = I2Cdev::readTimeout);
+    static int8_t readBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t* data,
+                           uint16_t timeout = I2Cdev::readTimeout);
+    static int8_t readBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t* data,
+                            uint16_t timeout = I2Cdev::readTimeout);
+    static int8_t readByte(uint8_t devAddr, uint8_t regAddr, uint8_t* data, uint16_t timeout = I2Cdev::readTimeout);
+    static int8_t readWord(uint8_t devAddr, uint8_t regAddr, uint16_t* data, uint16_t timeout = I2Cdev::readTimeout);
+    static int8_t readBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t* data,
+                            uint16_t timeout = I2Cdev::readTimeout);
+    static int8_t readWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t* data,
+                            uint16_t timeout = I2Cdev::readTimeout);
+
+    static bool writeBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t data);
+    static bool writeBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t data);
+    static bool writeBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t data);
+    static bool writeBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t data);
+    static bool writeByte(uint8_t devAddr, uint8_t regAddr, uint8_t data);
+    static bool writeWord(uint8_t devAddr, uint8_t regAddr, uint16_t data);
+    static bool writeBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t* data);
+    static bool writeWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t* data);
+
+    static uint16_t readTimeout;
+};
+
+#if I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE
+//////////////////////
+// FastWire 0.2
+// This is a library to help faster programs to read I2C devices.
+// Copyright(C) 2011
+// Francesco Ferrara
+//////////////////////
+
+/* Master */
+#define TW_START                0x08
+#define TW_REP_START            0x10
+
+/* Master Transmitter */
+#define TW_MT_SLA_ACK           0x18
+#define TW_MT_SLA_NACK          0x20
+#define TW_MT_DATA_ACK          0x28
+#define TW_MT_DATA_NACK         0x30
+#define TW_MT_ARB_LOST          0x38
+
+/* Master Receiver */
+#define TW_MR_ARB_LOST          0x38
+#define TW_MR_SLA_ACK           0x40
+#define TW_MR_SLA_NACK          0x48
+#define TW_MR_DATA_ACK          0x50
+#define TW_MR_DATA_NACK         0x58
+
+#define TW_OK                   0
+#define TW_ERROR                1
+
+class Fastwire {
+  private:
+    static boolean waitInt();
+
+  public:
+    static void setup(int khz, boolean pullup);
+    static byte write(byte device, byte address, byte value);
+    static byte readBuf(byte device, byte address, byte* data, byte num);
+};
+#endif
+
+#if I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_NBWIRE
+// NBWire implementation based heavily on code by Gene Knight <Gene@Telobot.com>
+// Originally posted on the Arduino forum at http://arduino.cc/forum/index.php/topic,70705.0.html
+// Originally offered to the i2cdevlib project at http://arduino.cc/forum/index.php/topic,68210.30.html
+
+#define NBWIRE_BUFFER_LENGTH 32
+
+class TwoWire {
+  private:
+    static uint8_t rxBuffer[];
+    static uint8_t rxBufferIndex;
+    static uint8_t rxBufferLength;
+
+    static uint8_t txAddress;
+    static uint8_t txBuffer[];
+    static uint8_t txBufferIndex;
+    static uint8_t txBufferLength;
+
+    // static uint8_t transmitting;
+    static void (*user_onRequest)(void);
+    static void (*user_onReceive)(int);
+    static void onRequestService(void);
+    static void onReceiveService(uint8_t*, int);
+
+  public:
+    TwoWire();
+    void begin();
+    void begin(uint8_t);
+    void begin(int);
+    void beginTransmission(uint8_t);
+    //void beginTransmission(int);
+    uint8_t endTransmission(uint16_t timeout = 0);
+    void nbendTransmission(void (*function)(int)) ;
+    uint8_t requestFrom(uint8_t, int, uint16_t timeout = 0);
+    //uint8_t requestFrom(int, int);
+    void nbrequestFrom(uint8_t, int, void (*function)(int));
+    void send(uint8_t);
+    void send(uint8_t*, uint8_t);
+    //void send(int);
+    void send(char*);
+    uint8_t available(void);
+    uint8_t receive(void);
+    void onReceive(void (*)(int));
+    void onRequest(void (*)(void));
+};
+
+#define TWI_READY   0
+#define TWI_MRX     1
+#define TWI_MTX     2
+#define TWI_SRX     3
+#define TWI_STX     4
+
+#define TW_WRITE    0
+#define TW_READ     1
+
+#define TW_MT_SLA_NACK      0x20
+#define TW_MT_DATA_NACK     0x30
+
+#define CPU_FREQ            16000000L
+#define TWI_FREQ            100000L
+#define TWI_BUFFER_LENGTH   32
+
+/* TWI Status is in TWSR, in the top 5 bits: TWS7 - TWS3 */
+
+#define TW_STATUS_MASK              (_BV(TWS7)|_BV(TWS6)|_BV(TWS5)|_BV(TWS4)|_BV(TWS3))
+#define TW_STATUS                   (TWSR & TW_STATUS_MASK)
+#define TW_START                    0x08
+#define TW_REP_START                0x10
+#define TW_MT_SLA_ACK               0x18
+#define TW_MT_SLA_NACK              0x20
+#define TW_MT_DATA_ACK              0x28
+#define TW_MT_DATA_NACK             0x30
+#define TW_MT_ARB_LOST              0x38
+#define TW_MR_ARB_LOST              0x38
+#define TW_MR_SLA_ACK               0x40
+#define TW_MR_SLA_NACK              0x48
+#define TW_MR_DATA_ACK              0x50
+#define TW_MR_DATA_NACK             0x58
+#define TW_ST_SLA_ACK               0xA8
+#define TW_ST_ARB_LOST_SLA_ACK      0xB0
+#define TW_ST_DATA_ACK              0xB8
+#define TW_ST_DATA_NACK             0xC0
+#define TW_ST_LAST_DATA             0xC8
+#define TW_SR_SLA_ACK               0x60
+#define TW_SR_ARB_LOST_SLA_ACK      0x68
+#define TW_SR_GCALL_ACK             0x70
+#define TW_SR_ARB_LOST_GCALL_ACK    0x78
+#define TW_SR_DATA_ACK              0x80
+#define TW_SR_DATA_NACK             0x88
+#define TW_SR_GCALL_DATA_ACK        0x90
+#define TW_SR_GCALL_DATA_NACK       0x98
+#define TW_SR_STOP                  0xA0
+#define TW_NO_INFO                  0xF8
+#define TW_BUS_ERROR                0x00
+
+//#define _MMIO_BYTE(mem_addr) (*(volatile uint8_t *)(mem_addr))
+//#define _SFR_BYTE(sfr) _MMIO_BYTE(_SFR_ADDR(sfr))
+
+#ifndef sbi // set bit
+    #define sbi(sfr, bit) (_SFR_BYTE(sfr) |= _BV(bit))
+#endif // sbi
+
+#ifndef cbi // clear bit
+    #define cbi(sfr, bit) (_SFR_BYTE(sfr) &= ~_BV(bit))
+#endif // cbi
+
+extern TwoWire Wire;
+
+#endif // I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_NBWIRE
+
+#endif /* _I2CDEV_H_ */
\ No newline at end of file
diff --git a/labyrinthe/6-jumeaux/test/manette-test/MPU6050.cpp b/labyrinthe/6-jumeaux/test/manette-test/MPU6050.cpp
new file mode 100644
index 0000000..6a0fd44
--- /dev/null
+++ b/labyrinthe/6-jumeaux/test/manette-test/MPU6050.cpp
@@ -0,0 +1,3237 @@
+// I2Cdev library collection - MPU6050 I2C device class
+// Based on InvenSense MPU-6050 register map document rev. 2.0, 5/19/2011 (RM-MPU-6000A-00)
+// 8/24/2011 by Jeff Rowberg <jeff@rowberg.net>
+// Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib
+//
+// Changelog:
+//     ... - ongoing debug release
+
+// NOTE: THIS IS ONLY A PARIAL RELEASE. THIS DEVICE CLASS IS CURRENTLY UNDERGOING ACTIVE
+// DEVELOPMENT AND IS STILL MISSING SOME IMPORTANT FEATURES. PLEASE KEEP THIS IN MIND IF
+// YOU DECIDE TO USE THIS PARTICULAR CODE FOR ANYTHING.
+
+/*  ============================================
+    I2Cdev device library code is placed under the MIT license
+    Copyright (c) 2012 Jeff Rowberg
+
+    Permission is hereby granted, free of charge, to any person obtaining a copy
+    of this software and associated documentation files (the "Software"), to deal
+    in the Software without restriction, including without limitation the rights
+    to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+    copies of the Software, and to permit persons to whom the Software is
+    furnished to do so, subject to the following conditions:
+
+    The above copyright notice and this permission notice shall be included in
+    all copies or substantial portions of the Software.
+
+    THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+    IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+    FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+    AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+    LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+    OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+    THE SOFTWARE.
+    ===============================================
+*/
+
+#include "MPU6050.h"
+
+/** Default constructor, uses default I2C address.
+    @see MPU6050_DEFAULT_ADDRESS
+*/
+MPU6050::MPU6050() {
+    devAddr = MPU6050_DEFAULT_ADDRESS;
+}
+
+/** Specific address constructor.
+    @param address I2C address
+    @see MPU6050_DEFAULT_ADDRESS
+    @see MPU6050_ADDRESS_AD0_LOW
+    @see MPU6050_ADDRESS_AD0_HIGH
+*/
+MPU6050::MPU6050(uint8_t address) {
+    devAddr = address;
+}
+
+/** Power on and prepare for general usage.
+    This will activate the device and take it out of sleep mode (which must be done
+    after start-up). This function also sets both the accelerometer and the gyroscope
+    to their most sensitive settings, namely +/- 2g and +/- 250 degrees/sec, and sets
+    the clock source to use the X Gyro for reference, which is slightly better than
+    the default internal clock source.
+*/
+void MPU6050::initialize() {
+    setClockSource(MPU6050_CLOCK_PLL_XGYRO);
+    setFullScaleGyroRange(MPU6050_GYRO_FS_250);
+    setFullScaleAccelRange(MPU6050_ACCEL_FS_2);
+    setSleepEnabled(false); // thanks to Jack Elston for pointing this one out!
+}
+
+/** Verify the I2C connection.
+    Make sure the device is connected and responds as expected.
+    @return True if connection is valid, false otherwise
+*/
+bool MPU6050::testConnection() {
+    return getDeviceID() == 0x34;
+}
+
+// AUX_VDDIO register (InvenSense demo code calls this RA_*G_OFFS_TC)
+
+/** Get the auxiliary I2C supply voltage level.
+    When set to 1, the auxiliary I2C bus high logic level is VDD. When cleared to
+    0, the auxiliary I2C bus high logic level is VLOGIC. This does not apply to
+    the MPU-6000, which does not have a VLOGIC pin.
+    @return I2C supply voltage level (0=VLOGIC, 1=VDD)
+*/
+uint8_t MPU6050::getAuxVDDIOLevel() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_PWR_MODE_BIT, buffer);
+    return buffer[0];
+}
+/** Set the auxiliary I2C supply voltage level.
+    When set to 1, the auxiliary I2C bus high logic level is VDD. When cleared to
+    0, the auxiliary I2C bus high logic level is VLOGIC. This does not apply to
+    the MPU-6000, which does not have a VLOGIC pin.
+    @param level I2C supply voltage level (0=VLOGIC, 1=VDD)
+*/
+void MPU6050::setAuxVDDIOLevel(uint8_t level) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_PWR_MODE_BIT, level);
+}
+
+// SMPLRT_DIV register
+
+/** Get gyroscope output rate divider.
+    The sensor register output, FIFO output, DMP sampling, Motion detection, Zero
+    Motion detection, and Free Fall detection are all based on the Sample Rate.
+    The Sample Rate is generated by dividing the gyroscope output rate by
+    SMPLRT_DIV:
+
+    Sample Rate = Gyroscope Output Rate / (1 + SMPLRT_DIV)
+
+    where Gyroscope Output Rate = 8kHz when the DLPF is disabled (DLPF_CFG = 0 or
+    7), and 1kHz when the DLPF is enabled (see Register 26).
+
+    Note: The accelerometer output rate is 1kHz. This means that for a Sample
+    Rate greater than 1kHz, the same accelerometer sample may be output to the
+    FIFO, DMP, and sensor registers more than once.
+
+    For a diagram of the gyroscope and accelerometer signal paths, see Section 8
+    of the MPU-6000/MPU-6050 Product Specification document.
+
+    @return Current sample rate
+    @see MPU6050_RA_SMPLRT_DIV
+*/
+uint8_t MPU6050::getRate() {
+    I2Cdev::readByte(devAddr, MPU6050_RA_SMPLRT_DIV, buffer);
+    return buffer[0];
+}
+/** Set gyroscope sample rate divider.
+    @param rate New sample rate divider
+    @see getRate()
+    @see MPU6050_RA_SMPLRT_DIV
+*/
+void MPU6050::setRate(uint8_t rate) {
+    I2Cdev::writeByte(devAddr, MPU6050_RA_SMPLRT_DIV, rate);
+}
+
+// CONFIG register
+
+/** Get external FSYNC configuration.
+    Configures the external Frame Synchronization (FSYNC) pin sampling. An
+    external signal connected to the FSYNC pin can be sampled by configuring
+    EXT_SYNC_SET. Signal changes to the FSYNC pin are latched so that short
+    strobes may be captured. The latched FSYNC signal will be sampled at the
+    Sampling Rate, as defined in register 25. After sampling, the latch will
+    reset to the current FSYNC signal state.
+
+    The sampled value will be reported in place of the least significant bit in
+    a sensor data register determined by the value of EXT_SYNC_SET according to
+    the following table.
+
+    <pre>
+    EXT_SYNC_SET | FSYNC Bit Location
+    -------------+-------------------
+    0            | Input disabled
+    1            | TEMP_OUT_L[0]
+    2            | GYRO_XOUT_L[0]
+    3            | GYRO_YOUT_L[0]
+    4            | GYRO_ZOUT_L[0]
+    5            | ACCEL_XOUT_L[0]
+    6            | ACCEL_YOUT_L[0]
+    7            | ACCEL_ZOUT_L[0]
+    </pre>
+
+    @return FSYNC configuration value
+*/
+uint8_t MPU6050::getExternalFrameSync() {
+    I2Cdev::readBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_EXT_SYNC_SET_BIT, MPU6050_CFG_EXT_SYNC_SET_LENGTH, buffer);
+    return buffer[0];
+}
+/** Set external FSYNC configuration.
+    @see getExternalFrameSync()
+    @see MPU6050_RA_CONFIG
+    @param sync New FSYNC configuration value
+*/
+void MPU6050::setExternalFrameSync(uint8_t sync) {
+    I2Cdev::writeBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_EXT_SYNC_SET_BIT, MPU6050_CFG_EXT_SYNC_SET_LENGTH, sync);
+}
+/** Get digital low-pass filter configuration.
+    The DLPF_CFG parameter sets the digital low pass filter configuration. It
+    also determines the internal sampling rate used by the device as shown in
+    the table below.
+
+    Note: The accelerometer output rate is 1kHz. This means that for a Sample
+    Rate greater than 1kHz, the same accelerometer sample may be output to the
+    FIFO, DMP, and sensor registers more than once.
+
+    <pre>
+            |   ACCELEROMETER    |           GYROSCOPE
+    DLPF_CFG | Bandwidth | Delay  | Bandwidth | Delay  | Sample Rate
+    ---------+-----------+--------+-----------+--------+-------------
+    0        | 260Hz     | 0ms    | 256Hz     | 0.98ms | 8kHz
+    1        | 184Hz     | 2.0ms  | 188Hz     | 1.9ms  | 1kHz
+    2        | 94Hz      | 3.0ms  | 98Hz      | 2.8ms  | 1kHz
+    3        | 44Hz      | 4.9ms  | 42Hz      | 4.8ms  | 1kHz
+    4        | 21Hz      | 8.5ms  | 20Hz      | 8.3ms  | 1kHz
+    5        | 10Hz      | 13.8ms | 10Hz      | 13.4ms | 1kHz
+    6        | 5Hz       | 19.0ms | 5Hz       | 18.6ms | 1kHz
+    7        |   -- Reserved --   |   -- Reserved --   | Reserved
+    </pre>
+
+    @return DLFP configuration
+    @see MPU6050_RA_CONFIG
+    @see MPU6050_CFG_DLPF_CFG_BIT
+    @see MPU6050_CFG_DLPF_CFG_LENGTH
+*/
+uint8_t MPU6050::getDLPFMode() {
+    I2Cdev::readBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_DLPF_CFG_BIT, MPU6050_CFG_DLPF_CFG_LENGTH, buffer);
+    return buffer[0];
+}
+/** Set digital low-pass filter configuration.
+    @param mode New DLFP configuration setting
+    @see getDLPFBandwidth()
+    @see MPU6050_DLPF_BW_256
+    @see MPU6050_RA_CONFIG
+    @see MPU6050_CFG_DLPF_CFG_BIT
+    @see MPU6050_CFG_DLPF_CFG_LENGTH
+*/
+void MPU6050::setDLPFMode(uint8_t mode) {
+    I2Cdev::writeBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_DLPF_CFG_BIT, MPU6050_CFG_DLPF_CFG_LENGTH, mode);
+}
+
+// GYRO_CONFIG register
+
+/** Get full-scale gyroscope range.
+    The FS_SEL parameter allows setting the full-scale range of the gyro sensors,
+    as described in the table below.
+
+    <pre>
+    0 = +/- 250 degrees/sec
+    1 = +/- 500 degrees/sec
+    2 = +/- 1000 degrees/sec
+    3 = +/- 2000 degrees/sec
+    </pre>
+
+    @return Current full-scale gyroscope range setting
+    @see MPU6050_GYRO_FS_250
+    @see MPU6050_RA_GYRO_CONFIG
+    @see MPU6050_GCONFIG_FS_SEL_BIT
+    @see MPU6050_GCONFIG_FS_SEL_LENGTH
+*/
+uint8_t MPU6050::getFullScaleGyroRange() {
+    I2Cdev::readBits(devAddr, MPU6050_RA_GYRO_CONFIG, MPU6050_GCONFIG_FS_SEL_BIT, MPU6050_GCONFIG_FS_SEL_LENGTH, buffer);
+    return buffer[0];
+}
+/** Set full-scale gyroscope range.
+    @param range New full-scale gyroscope range value
+    @see getFullScaleRange()
+    @see MPU6050_GYRO_FS_250
+    @see MPU6050_RA_GYRO_CONFIG
+    @see MPU6050_GCONFIG_FS_SEL_BIT
+    @see MPU6050_GCONFIG_FS_SEL_LENGTH
+*/
+void MPU6050::setFullScaleGyroRange(uint8_t range) {
+    I2Cdev::writeBits(devAddr, MPU6050_RA_GYRO_CONFIG, MPU6050_GCONFIG_FS_SEL_BIT, MPU6050_GCONFIG_FS_SEL_LENGTH, range);
+}
+
+// ACCEL_CONFIG register
+
+/** Get self-test enabled setting for accelerometer X axis.
+    @return Self-test enabled value
+    @see MPU6050_RA_ACCEL_CONFIG
+*/
+bool MPU6050::getAccelXSelfTest() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_XA_ST_BIT, buffer);
+    return buffer[0];
+}
+/** Get self-test enabled setting for accelerometer X axis.
+    @param enabled Self-test enabled value
+    @see MPU6050_RA_ACCEL_CONFIG
+*/
+void MPU6050::setAccelXSelfTest(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_XA_ST_BIT, enabled);
+}
+/** Get self-test enabled value for accelerometer Y axis.
+    @return Self-test enabled value
+    @see MPU6050_RA_ACCEL_CONFIG
+*/
+bool MPU6050::getAccelYSelfTest() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_YA_ST_BIT, buffer);
+    return buffer[0];
+}
+/** Get self-test enabled value for accelerometer Y axis.
+    @param enabled Self-test enabled value
+    @see MPU6050_RA_ACCEL_CONFIG
+*/
+void MPU6050::setAccelYSelfTest(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_YA_ST_BIT, enabled);
+}
+/** Get self-test enabled value for accelerometer Z axis.
+    @return Self-test enabled value
+    @see MPU6050_RA_ACCEL_CONFIG
+*/
+bool MPU6050::getAccelZSelfTest() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ZA_ST_BIT, buffer);
+    return buffer[0];
+}
+/** Set self-test enabled value for accelerometer Z axis.
+    @param enabled Self-test enabled value
+    @see MPU6050_RA_ACCEL_CONFIG
+*/
+void MPU6050::setAccelZSelfTest(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ZA_ST_BIT, enabled);
+}
+/** Get full-scale accelerometer range.
+    The FS_SEL parameter allows setting the full-scale range of the accelerometer
+    sensors, as described in the table below.
+
+    <pre>
+    0 = +/- 2g
+    1 = +/- 4g
+    2 = +/- 8g
+    3 = +/- 16g
+    </pre>
+
+    @return Current full-scale accelerometer range setting
+    @see MPU6050_ACCEL_FS_2
+    @see MPU6050_RA_ACCEL_CONFIG
+    @see MPU6050_ACONFIG_AFS_SEL_BIT
+    @see MPU6050_ACONFIG_AFS_SEL_LENGTH
+*/
+uint8_t MPU6050::getFullScaleAccelRange() {
+    I2Cdev::readBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_AFS_SEL_BIT, MPU6050_ACONFIG_AFS_SEL_LENGTH, buffer);
+    return buffer[0];
+}
+/** Set full-scale accelerometer range.
+    @param range New full-scale accelerometer range setting
+    @see getFullScaleAccelRange()
+*/
+void MPU6050::setFullScaleAccelRange(uint8_t range) {
+    I2Cdev::writeBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_AFS_SEL_BIT, MPU6050_ACONFIG_AFS_SEL_LENGTH, range);
+}
+/** Get the high-pass filter configuration.
+    The DHPF is a filter module in the path leading to motion detectors (Free
+    Fall, Motion threshold, and Zero Motion). The high pass filter output is not
+    available to the data registers (see Figure in Section 8 of the MPU-6000/
+    MPU-6050 Product Specification document).
+
+    The high pass filter has three modes:
+
+    <pre>
+      Reset: The filter output settles to zero within one sample. This
+             effectively disables the high pass filter. This mode may be toggled
+             to quickly settle the filter.
+
+      On:    The high pass filter will pass signals above the cut off frequency.
+
+      Hold:  When triggered, the filter holds the present sample. The filter
+             output will be the difference between the input sample and the held
+             sample.
+    </pre>
+
+    <pre>
+    ACCEL_HPF | Filter Mode | Cut-off Frequency
+    ----------+-------------+------------------
+    0         | Reset       | None
+    1         | On          | 5Hz
+    2         | On          | 2.5Hz
+    3         | On          | 1.25Hz
+    4         | On          | 0.63Hz
+    7         | Hold        | None
+    </pre>
+
+    @return Current high-pass filter configuration
+    @see MPU6050_DHPF_RESET
+    @see MPU6050_RA_ACCEL_CONFIG
+*/
+uint8_t MPU6050::getDHPFMode() {
+    I2Cdev::readBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ACCEL_HPF_BIT, MPU6050_ACONFIG_ACCEL_HPF_LENGTH,
+                     buffer);
+    return buffer[0];
+}
+/** Set the high-pass filter configuration.
+    @param bandwidth New high-pass filter configuration
+    @see setDHPFMode()
+    @see MPU6050_DHPF_RESET
+    @see MPU6050_RA_ACCEL_CONFIG
+*/
+void MPU6050::setDHPFMode(uint8_t bandwidth) {
+    I2Cdev::writeBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ACCEL_HPF_BIT, MPU6050_ACONFIG_ACCEL_HPF_LENGTH,
+                      bandwidth);
+}
+
+// FF_THR register
+
+/** Get free-fall event acceleration threshold.
+    This register configures the detection threshold for Free Fall event
+    detection. The unit of FF_THR is 1LSB = 2mg. Free Fall is detected when the
+    absolute value of the accelerometer measurements for the three axes are each
+    less than the detection threshold. This condition increments the Free Fall
+    duration counter (Register 30). The Free Fall interrupt is triggered when the
+    Free Fall duration counter reaches the time specified in FF_DUR.
+
+    For more details on the Free Fall detection interrupt, see Section 8.2 of the
+    MPU-6000/MPU-6050 Product Specification document as well as Registers 56 and
+    58 of this document.
+
+    @return Current free-fall acceleration threshold value (LSB = 2mg)
+    @see MPU6050_RA_FF_THR
+*/
+uint8_t MPU6050::getFreefallDetectionThreshold() {
+    I2Cdev::readByte(devAddr, MPU6050_RA_FF_THR, buffer);
+    return buffer[0];
+}
+/** Get free-fall event acceleration threshold.
+    @param threshold New free-fall acceleration threshold value (LSB = 2mg)
+    @see getFreefallDetectionThreshold()
+    @see MPU6050_RA_FF_THR
+*/
+void MPU6050::setFreefallDetectionThreshold(uint8_t threshold) {
+    I2Cdev::writeByte(devAddr, MPU6050_RA_FF_THR, threshold);
+}
+
+// FF_DUR register
+
+/** Get free-fall event duration threshold.
+    This register configures the duration counter threshold for Free Fall event
+    detection. The duration counter ticks at 1kHz, therefore FF_DUR has a unit
+    of 1 LSB = 1 ms.
+
+    The Free Fall duration counter increments while the absolute value of the
+    accelerometer measurements are each less than the detection threshold
+    (Register 29). The Free Fall interrupt is triggered when the Free Fall
+    duration counter reaches the time specified in this register.
+
+    For more details on the Free Fall detection interrupt, see Section 8.2 of
+    the MPU-6000/MPU-6050 Product Specification document as well as Registers 56
+    and 58 of this document.
+
+    @return Current free-fall duration threshold value (LSB = 1ms)
+    @see MPU6050_RA_FF_DUR
+*/
+uint8_t MPU6050::getFreefallDetectionDuration() {
+    I2Cdev::readByte(devAddr, MPU6050_RA_FF_DUR, buffer);
+    return buffer[0];
+}
+/** Get free-fall event duration threshold.
+    @param duration New free-fall duration threshold value (LSB = 1ms)
+    @see getFreefallDetectionDuration()
+    @see MPU6050_RA_FF_DUR
+*/
+void MPU6050::setFreefallDetectionDuration(uint8_t duration) {
+    I2Cdev::writeByte(devAddr, MPU6050_RA_FF_DUR, duration);
+}
+
+// MOT_THR register
+
+/** Get motion detection event acceleration threshold.
+    This register configures the detection threshold for Motion interrupt
+    generation. The unit of MOT_THR is 1LSB = 2mg. Motion is detected when the
+    absolute value of any of the accelerometer measurements exceeds this Motion
+    detection threshold. This condition increments the Motion detection duration
+    counter (Register 32). The Motion detection interrupt is triggered when the
+    Motion Detection counter reaches the time count specified in MOT_DUR
+    (Register 32).
+
+    The Motion interrupt will indicate the axis and polarity of detected motion
+    in MOT_DETECT_STATUS (Register 97).
+
+    For more details on the Motion detection interrupt, see Section 8.3 of the
+    MPU-6000/MPU-6050 Product Specification document as well as Registers 56 and
+    58 of this document.
+
+    @return Current motion detection acceleration threshold value (LSB = 2mg)
+    @see MPU6050_RA_MOT_THR
+*/
+uint8_t MPU6050::getMotionDetectionThreshold() {
+    I2Cdev::readByte(devAddr, MPU6050_RA_MOT_THR, buffer);
+    return buffer[0];
+}
+/** Set free-fall event acceleration threshold.
+    @param threshold New motion detection acceleration threshold value (LSB = 2mg)
+    @see getMotionDetectionThreshold()
+    @see MPU6050_RA_MOT_THR
+*/
+void MPU6050::setMotionDetectionThreshold(uint8_t threshold) {
+    I2Cdev::writeByte(devAddr, MPU6050_RA_MOT_THR, threshold);
+}
+
+// MOT_DUR register
+
+/** Get motion detection event duration threshold.
+    This register configures the duration counter threshold for Motion interrupt
+    generation. The duration counter ticks at 1 kHz, therefore MOT_DUR has a unit
+    of 1LSB = 1ms. The Motion detection duration counter increments when the
+    absolute value of any of the accelerometer measurements exceeds the Motion
+    detection threshold (Register 31). The Motion detection interrupt is
+    triggered when the Motion detection counter reaches the time count specified
+    in this register.
+
+    For more details on the Motion detection interrupt, see Section 8.3 of the
+    MPU-6000/MPU-6050 Product Specification document.
+
+    @return Current motion detection duration threshold value (LSB = 1ms)
+    @see MPU6050_RA_MOT_DUR
+*/
+uint8_t MPU6050::getMotionDetectionDuration() {
+    I2Cdev::readByte(devAddr, MPU6050_RA_MOT_DUR, buffer);
+    return buffer[0];
+}
+/** Set motion detection event duration threshold.
+    @param duration New motion detection duration threshold value (LSB = 1ms)
+    @see getMotionDetectionDuration()
+    @see MPU6050_RA_MOT_DUR
+*/
+void MPU6050::setMotionDetectionDuration(uint8_t duration) {
+    I2Cdev::writeByte(devAddr, MPU6050_RA_MOT_DUR, duration);
+}
+
+// ZRMOT_THR register
+
+/** Get zero motion detection event acceleration threshold.
+    This register configures the detection threshold for Zero Motion interrupt
+    generation. The unit of ZRMOT_THR is 1LSB = 2mg. Zero Motion is detected when
+    the absolute value of the accelerometer measurements for the 3 axes are each
+    less than the detection threshold. This condition increments the Zero Motion
+    duration counter (Register 34). The Zero Motion interrupt is triggered when
+    the Zero Motion duration counter reaches the time count specified in
+    ZRMOT_DUR (Register 34).
+
+    Unlike Free Fall or Motion detection, Zero Motion detection triggers an
+    interrupt both when Zero Motion is first detected and when Zero Motion is no
+    longer detected.
+
+    When a zero motion event is detected, a Zero Motion Status will be indicated
+    in the MOT_DETECT_STATUS register (Register 97). When a motion-to-zero-motion
+    condition is detected, the status bit is set to 1. When a zero-motion-to-
+    motion condition is detected, the status bit is set to 0.
+
+    For more details on the Zero Motion detection interrupt, see Section 8.4 of
+    the MPU-6000/MPU-6050 Product Specification document as well as Registers 56
+    and 58 of this document.
+
+    @return Current zero motion detection acceleration threshold value (LSB = 2mg)
+    @see MPU6050_RA_ZRMOT_THR
+*/
+uint8_t MPU6050::getZeroMotionDetectionThreshold() {
+    I2Cdev::readByte(devAddr, MPU6050_RA_ZRMOT_THR, buffer);
+    return buffer[0];
+}
+/** Set zero motion detection event acceleration threshold.
+    @param threshold New zero motion detection acceleration threshold value (LSB = 2mg)
+    @see getZeroMotionDetectionThreshold()
+    @see MPU6050_RA_ZRMOT_THR
+*/
+void MPU6050::setZeroMotionDetectionThreshold(uint8_t threshold) {
+    I2Cdev::writeByte(devAddr, MPU6050_RA_ZRMOT_THR, threshold);
+}
+
+// ZRMOT_DUR register
+
+/** Get zero motion detection event duration threshold.
+    This register configures the duration counter threshold for Zero Motion
+    interrupt generation. The duration counter ticks at 16 Hz, therefore
+    ZRMOT_DUR has a unit of 1 LSB = 64 ms. The Zero Motion duration counter
+    increments while the absolute value of the accelerometer measurements are
+    each less than the detection threshold (Register 33). The Zero Motion
+    interrupt is triggered when the Zero Motion duration counter reaches the time
+    count specified in this register.
+
+    For more details on the Zero Motion detection interrupt, see Section 8.4 of
+    the MPU-6000/MPU-6050 Product Specification document, as well as Registers 56
+    and 58 of this document.
+
+    @return Current zero motion detection duration threshold value (LSB = 64ms)
+    @see MPU6050_RA_ZRMOT_DUR
+*/
+uint8_t MPU6050::getZeroMotionDetectionDuration() {
+    I2Cdev::readByte(devAddr, MPU6050_RA_ZRMOT_DUR, buffer);
+    return buffer[0];
+}
+/** Set zero motion detection event duration threshold.
+    @param duration New zero motion detection duration threshold value (LSB = 1ms)
+    @see getZeroMotionDetectionDuration()
+    @see MPU6050_RA_ZRMOT_DUR
+*/
+void MPU6050::setZeroMotionDetectionDuration(uint8_t duration) {
+    I2Cdev::writeByte(devAddr, MPU6050_RA_ZRMOT_DUR, duration);
+}
+
+// FIFO_EN register
+
+/** Get temperature FIFO enabled value.
+    When set to 1, this bit enables TEMP_OUT_H and TEMP_OUT_L (Registers 65 and
+    66) to be written into the FIFO buffer.
+    @return Current temperature FIFO enabled value
+    @see MPU6050_RA_FIFO_EN
+*/
+bool MPU6050::getTempFIFOEnabled() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_TEMP_FIFO_EN_BIT, buffer);
+    return buffer[0];
+}
+/** Set temperature FIFO enabled value.
+    @param enabled New temperature FIFO enabled value
+    @see getTempFIFOEnabled()
+    @see MPU6050_RA_FIFO_EN
+*/
+void MPU6050::setTempFIFOEnabled(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_TEMP_FIFO_EN_BIT, enabled);
+}
+/** Get gyroscope X-axis FIFO enabled value.
+    When set to 1, this bit enables GYRO_XOUT_H and GYRO_XOUT_L (Registers 67 and
+    68) to be written into the FIFO buffer.
+    @return Current gyroscope X-axis FIFO enabled value
+    @see MPU6050_RA_FIFO_EN
+*/
+bool MPU6050::getXGyroFIFOEnabled() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_XG_FIFO_EN_BIT, buffer);
+    return buffer[0];
+}
+/** Set gyroscope X-axis FIFO enabled value.
+    @param enabled New gyroscope X-axis FIFO enabled value
+    @see getXGyroFIFOEnabled()
+    @see MPU6050_RA_FIFO_EN
+*/
+void MPU6050::setXGyroFIFOEnabled(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_XG_FIFO_EN_BIT, enabled);
+}
+/** Get gyroscope Y-axis FIFO enabled value.
+    When set to 1, this bit enables GYRO_YOUT_H and GYRO_YOUT_L (Registers 69 and
+    70) to be written into the FIFO buffer.
+    @return Current gyroscope Y-axis FIFO enabled value
+    @see MPU6050_RA_FIFO_EN
+*/
+bool MPU6050::getYGyroFIFOEnabled() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_YG_FIFO_EN_BIT, buffer);
+    return buffer[0];
+}
+/** Set gyroscope Y-axis FIFO enabled value.
+    @param enabled New gyroscope Y-axis FIFO enabled value
+    @see getYGyroFIFOEnabled()
+    @see MPU6050_RA_FIFO_EN
+*/
+void MPU6050::setYGyroFIFOEnabled(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_YG_FIFO_EN_BIT, enabled);
+}
+/** Get gyroscope Z-axis FIFO enabled value.
+    When set to 1, this bit enables GYRO_ZOUT_H and GYRO_ZOUT_L (Registers 71 and
+    72) to be written into the FIFO buffer.
+    @return Current gyroscope Z-axis FIFO enabled value
+    @see MPU6050_RA_FIFO_EN
+*/
+bool MPU6050::getZGyroFIFOEnabled() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ZG_FIFO_EN_BIT, buffer);
+    return buffer[0];
+}
+/** Set gyroscope Z-axis FIFO enabled value.
+    @param enabled New gyroscope Z-axis FIFO enabled value
+    @see getZGyroFIFOEnabled()
+    @see MPU6050_RA_FIFO_EN
+*/
+void MPU6050::setZGyroFIFOEnabled(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ZG_FIFO_EN_BIT, enabled);
+}
+/** Get accelerometer FIFO enabled value.
+    When set to 1, this bit enables ACCEL_XOUT_H, ACCEL_XOUT_L, ACCEL_YOUT_H,
+    ACCEL_YOUT_L, ACCEL_ZOUT_H, and ACCEL_ZOUT_L (Registers 59 to 64) to be
+    written into the FIFO buffer.
+    @return Current accelerometer FIFO enabled value
+    @see MPU6050_RA_FIFO_EN
+*/
+bool MPU6050::getAccelFIFOEnabled() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ACCEL_FIFO_EN_BIT, buffer);
+    return buffer[0];
+}
+/** Set accelerometer FIFO enabled value.
+    @param enabled New accelerometer FIFO enabled value
+    @see getAccelFIFOEnabled()
+    @see MPU6050_RA_FIFO_EN
+*/
+void MPU6050::setAccelFIFOEnabled(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ACCEL_FIFO_EN_BIT, enabled);
+}
+/** Get Slave 2 FIFO enabled value.
+    When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96)
+    associated with Slave 2 to be written into the FIFO buffer.
+    @return Current Slave 2 FIFO enabled value
+    @see MPU6050_RA_FIFO_EN
+*/
+bool MPU6050::getSlave2FIFOEnabled() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV2_FIFO_EN_BIT, buffer);
+    return buffer[0];
+}
+/** Set Slave 2 FIFO enabled value.
+    @param enabled New Slave 2 FIFO enabled value
+    @see getSlave2FIFOEnabled()
+    @see MPU6050_RA_FIFO_EN
+*/
+void MPU6050::setSlave2FIFOEnabled(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV2_FIFO_EN_BIT, enabled);
+}
+/** Get Slave 1 FIFO enabled value.
+    When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96)
+    associated with Slave 1 to be written into the FIFO buffer.
+    @return Current Slave 1 FIFO enabled value
+    @see MPU6050_RA_FIFO_EN
+*/
+bool MPU6050::getSlave1FIFOEnabled() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV1_FIFO_EN_BIT, buffer);
+    return buffer[0];
+}
+/** Set Slave 1 FIFO enabled value.
+    @param enabled New Slave 1 FIFO enabled value
+    @see getSlave1FIFOEnabled()
+    @see MPU6050_RA_FIFO_EN
+*/
+void MPU6050::setSlave1FIFOEnabled(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV1_FIFO_EN_BIT, enabled);
+}
+/** Get Slave 0 FIFO enabled value.
+    When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96)
+    associated with Slave 0 to be written into the FIFO buffer.
+    @return Current Slave 0 FIFO enabled value
+    @see MPU6050_RA_FIFO_EN
+*/
+bool MPU6050::getSlave0FIFOEnabled() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV0_FIFO_EN_BIT, buffer);
+    return buffer[0];
+}
+/** Set Slave 0 FIFO enabled value.
+    @param enabled New Slave 0 FIFO enabled value
+    @see getSlave0FIFOEnabled()
+    @see MPU6050_RA_FIFO_EN
+*/
+void MPU6050::setSlave0FIFOEnabled(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV0_FIFO_EN_BIT, enabled);
+}
+
+// I2C_MST_CTRL register
+
+/** Get multi-master enabled value.
+    Multi-master capability allows multiple I2C masters to operate on the same
+    bus. In circuits where multi-master capability is required, set MULT_MST_EN
+    to 1. This will increase current drawn by approximately 30uA.
+
+    In circuits where multi-master capability is required, the state of the I2C
+    bus must always be monitored by each separate I2C Master. Before an I2C
+    Master can assume arbitration of the bus, it must first confirm that no other
+    I2C Master has arbitration of the bus. When MULT_MST_EN is set to 1, the
+    MPU-60X0's bus arbitration detection logic is turned on, enabling it to
+    detect when the bus is available.
+
+    @return Current multi-master enabled value
+    @see MPU6050_RA_I2C_MST_CTRL
+*/
+bool MPU6050::getMultiMasterEnabled() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_MULT_MST_EN_BIT, buffer);
+    return buffer[0];
+}
+/** Set multi-master enabled value.
+    @param enabled New multi-master enabled value
+    @see getMultiMasterEnabled()
+    @see MPU6050_RA_I2C_MST_CTRL
+*/
+void MPU6050::setMultiMasterEnabled(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_MULT_MST_EN_BIT, enabled);
+}
+/** Get wait-for-external-sensor-data enabled value.
+    When the WAIT_FOR_ES bit is set to 1, the Data Ready interrupt will be
+    delayed until External Sensor data from the Slave Devices are loaded into the
+    EXT_SENS_DATA registers. This is used to ensure that both the internal sensor
+    data (i.e. from gyro and accel) and external sensor data have been loaded to
+    their respective data registers (i.e. the data is synced) when the Data Ready
+    interrupt is triggered.
+
+    @return Current wait-for-external-sensor-data enabled value
+    @see MPU6050_RA_I2C_MST_CTRL
+*/
+bool MPU6050::getWaitForExternalSensorEnabled() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_WAIT_FOR_ES_BIT, buffer);
+    return buffer[0];
+}
+/** Set wait-for-external-sensor-data enabled value.
+    @param enabled New wait-for-external-sensor-data enabled value
+    @see getWaitForExternalSensorEnabled()
+    @see MPU6050_RA_I2C_MST_CTRL
+*/
+void MPU6050::setWaitForExternalSensorEnabled(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_WAIT_FOR_ES_BIT, enabled);
+}
+/** Get Slave 3 FIFO enabled value.
+    When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96)
+    associated with Slave 3 to be written into the FIFO buffer.
+    @return Current Slave 3 FIFO enabled value
+    @see MPU6050_RA_MST_CTRL
+*/
+bool MPU6050::getSlave3FIFOEnabled() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_SLV_3_FIFO_EN_BIT, buffer);
+    return buffer[0];
+}
+/** Set Slave 3 FIFO enabled value.
+    @param enabled New Slave 3 FIFO enabled value
+    @see getSlave3FIFOEnabled()
+    @see MPU6050_RA_MST_CTRL
+*/
+void MPU6050::setSlave3FIFOEnabled(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_SLV_3_FIFO_EN_BIT, enabled);
+}
+/** Get slave read/write transition enabled value.
+    The I2C_MST_P_NSR bit configures the I2C Master's transition from one slave
+    read to the next slave read. If the bit equals 0, there will be a restart
+    between reads. If the bit equals 1, there will be a stop followed by a start
+    of the following read. When a write transaction follows a read transaction,
+    the stop followed by a start of the successive write will be always used.
+
+    @return Current slave read/write transition enabled value
+    @see MPU6050_RA_I2C_MST_CTRL
+*/
+bool MPU6050::getSlaveReadWriteTransitionEnabled() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_P_NSR_BIT, buffer);
+    return buffer[0];
+}
+/** Set slave read/write transition enabled value.
+    @param enabled New slave read/write transition enabled value
+    @see getSlaveReadWriteTransitionEnabled()
+    @see MPU6050_RA_I2C_MST_CTRL
+*/
+void MPU6050::setSlaveReadWriteTransitionEnabled(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_P_NSR_BIT, enabled);
+}
+/** Get I2C master clock speed.
+    I2C_MST_CLK is a 4 bit unsigned value which configures a divider on the
+    MPU-60X0 internal 8MHz clock. It sets the I2C master clock speed according to
+    the following table:
+
+    <pre>
+    I2C_MST_CLK | I2C Master Clock Speed | 8MHz Clock Divider
+    ------------+------------------------+-------------------
+    0           | 348kHz                 | 23
+    1           | 333kHz                 | 24
+    2           | 320kHz                 | 25
+    3           | 308kHz                 | 26
+    4           | 296kHz                 | 27
+    5           | 286kHz                 | 28
+    6           | 276kHz                 | 29
+    7           | 267kHz                 | 30
+    8           | 258kHz                 | 31
+    9           | 500kHz                 | 16
+    10          | 471kHz                 | 17
+    11          | 444kHz                 | 18
+    12          | 421kHz                 | 19
+    13          | 400kHz                 | 20
+    14          | 381kHz                 | 21
+    15          | 364kHz                 | 22
+    </pre>
+
+    @return Current I2C master clock speed
+    @see MPU6050_RA_I2C_MST_CTRL
+*/
+uint8_t MPU6050::getMasterClockSpeed() {
+    I2Cdev::readBits(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_CLK_BIT, MPU6050_I2C_MST_CLK_LENGTH, buffer);
+    return buffer[0];
+}
+/** Set I2C master clock speed.
+    @reparam speed Current I2C master clock speed
+    @see MPU6050_RA_I2C_MST_CTRL
+*/
+void MPU6050::setMasterClockSpeed(uint8_t speed) {
+    I2Cdev::writeBits(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_CLK_BIT, MPU6050_I2C_MST_CLK_LENGTH, speed);
+}
+
+// I2C_SLV* registers (Slave 0-3)
+
+/** Get the I2C address of the specified slave (0-3).
+    Note that Bit 7 (MSB) controls read/write mode. If Bit 7 is set, it's a read
+    operation, and if it is cleared, then it's a write operation. The remaining
+    bits (6-0) are the 7-bit device address of the slave device.
+
+    In read mode, the result of the read is placed in the lowest available
+    EXT_SENS_DATA register. For further information regarding the allocation of
+    read results, please refer to the EXT_SENS_DATA register description
+    (Registers 73 - 96).
+
+    The MPU-6050 supports a total of five slaves, but Slave 4 has unique
+    characteristics, and so it has its own functions (getSlave4* and setSlave4*).
+
+    I2C data transactions are performed at the Sample Rate, as defined in
+    Register 25. The user is responsible for ensuring that I2C data transactions
+    to and from each enabled Slave can be completed within a single period of the
+    Sample Rate.
+
+    The I2C slave access rate can be reduced relative to the Sample Rate. This
+    reduced access rate is determined by I2C_MST_DLY (Register 52). Whether a
+    slave's access rate is reduced relative to the Sample Rate is determined by
+    I2C_MST_DELAY_CTRL (Register 103).
+
+    The processing order for the slaves is fixed. The sequence followed for
+    processing the slaves is Slave 0, Slave 1, Slave 2, Slave 3 and Slave 4. If a
+    particular Slave is disabled it will be skipped.
+
+    Each slave can either be accessed at the sample rate or at a reduced sample
+    rate. In a case where some slaves are accessed at the Sample Rate and some
+    slaves are accessed at the reduced rate, the sequence of accessing the slaves
+    (Slave 0 to Slave 4) is still followed. However, the reduced rate slaves will
+    be skipped if their access rate dictates that they should not be accessed
+    during that particular cycle. For further information regarding the reduced
+    access rate, please refer to Register 52. Whether a slave is accessed at the
+    Sample Rate or at the reduced rate is determined by the Delay Enable bits in
+    Register 103.
+
+    @param num Slave number (0-3)
+    @return Current address for specified slave
+    @see MPU6050_RA_I2C_SLV0_ADDR
+*/
+uint8_t MPU6050::getSlaveAddress(uint8_t num) {
+    if (num > 3) {
+        return 0;
+    }
+    I2Cdev::readByte(devAddr, MPU6050_RA_I2C_SLV0_ADDR + num * 3, buffer);
+    return buffer[0];
+}
+/** Set the I2C address of the specified slave (0-3).
+    @param num Slave number (0-3)
+    @param address New address for specified slave
+    @see getSlaveAddress()
+    @see MPU6050_RA_I2C_SLV0_ADDR
+*/
+void MPU6050::setSlaveAddress(uint8_t num, uint8_t address) {
+    if (num > 3) {
+        return;
+    }
+    I2Cdev::writeByte(devAddr, MPU6050_RA_I2C_SLV0_ADDR + num * 3, address);
+}
+/** Get the active internal register for the specified slave (0-3).
+    Read/write operations for this slave will be done to whatever internal
+    register address is stored in this MPU register.
+
+    The MPU-6050 supports a total of five slaves, but Slave 4 has unique
+    characteristics, and so it has its own functions.
+
+    @param num Slave number (0-3)
+    @return Current active register for specified slave
+    @see MPU6050_RA_I2C_SLV0_REG
+*/
+uint8_t MPU6050::getSlaveRegister(uint8_t num) {
+    if (num > 3) {
+        return 0;
+    }
+    I2Cdev::readByte(devAddr, MPU6050_RA_I2C_SLV0_REG + num * 3, buffer);
+    return buffer[0];
+}
+/** Set the active internal register for the specified slave (0-3).
+    @param num Slave number (0-3)
+    @param reg New active register for specified slave
+    @see getSlaveRegister()
+    @see MPU6050_RA_I2C_SLV0_REG
+*/
+void MPU6050::setSlaveRegister(uint8_t num, uint8_t reg) {
+    if (num > 3) {
+        return;
+    }
+    I2Cdev::writeByte(devAddr, MPU6050_RA_I2C_SLV0_REG + num * 3, reg);
+}
+/** Get the enabled value for the specified slave (0-3).
+    When set to 1, this bit enables Slave 0 for data transfer operations. When
+    cleared to 0, this bit disables Slave 0 from data transfer operations.
+    @param num Slave number (0-3)
+    @return Current enabled value for specified slave
+    @see MPU6050_RA_I2C_SLV0_CTRL
+*/
+bool MPU6050::getSlaveEnabled(uint8_t num) {
+    if (num > 3) {
+        return 0;
+    }
+    I2Cdev::readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num * 3, MPU6050_I2C_SLV_EN_BIT, buffer);
+    return buffer[0];
+}
+/** Set the enabled value for the specified slave (0-3).
+    @param num Slave number (0-3)
+    @param enabled New enabled value for specified slave
+    @see getSlaveEnabled()
+    @see MPU6050_RA_I2C_SLV0_CTRL
+*/
+void MPU6050::setSlaveEnabled(uint8_t num, bool enabled) {
+    if (num > 3) {
+        return;
+    }
+    I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num * 3, MPU6050_I2C_SLV_EN_BIT, enabled);
+}
+/** Get word pair byte-swapping enabled for the specified slave (0-3).
+    When set to 1, this bit enables byte swapping. When byte swapping is enabled,
+    the high and low bytes of a word pair are swapped. Please refer to
+    I2C_SLV0_GRP for the pairing convention of the word pairs. When cleared to 0,
+    bytes transferred to and from Slave 0 will be written to EXT_SENS_DATA
+    registers in the order they were transferred.
+
+    @param num Slave number (0-3)
+    @return Current word pair byte-swapping enabled value for specified slave
+    @see MPU6050_RA_I2C_SLV0_CTRL
+*/
+bool MPU6050::getSlaveWordByteSwap(uint8_t num) {
+    if (num > 3) {
+        return 0;
+    }
+    I2Cdev::readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num * 3, MPU6050_I2C_SLV_BYTE_SW_BIT, buffer);
+    return buffer[0];
+}
+/** Set word pair byte-swapping enabled for the specified slave (0-3).
+    @param num Slave number (0-3)
+    @param enabled New word pair byte-swapping enabled value for specified slave
+    @see getSlaveWordByteSwap()
+    @see MPU6050_RA_I2C_SLV0_CTRL
+*/
+void MPU6050::setSlaveWordByteSwap(uint8_t num, bool enabled) {
+    if (num > 3) {
+        return;
+    }
+    I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num * 3, MPU6050_I2C_SLV_BYTE_SW_BIT, enabled);
+}
+/** Get write mode for the specified slave (0-3).
+    When set to 1, the transaction will read or write data only. When cleared to
+    0, the transaction will write a register address prior to reading or writing
+    data. This should equal 0 when specifying the register address within the
+    Slave device to/from which the ensuing data transaction will take place.
+
+    @param num Slave number (0-3)
+    @return Current write mode for specified slave (0 = register address + data, 1 = data only)
+    @see MPU6050_RA_I2C_SLV0_CTRL
+*/
+bool MPU6050::getSlaveWriteMode(uint8_t num) {
+    if (num > 3) {
+        return 0;
+    }
+    I2Cdev::readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num * 3, MPU6050_I2C_SLV_REG_DIS_BIT, buffer);
+    return buffer[0];
+}
+/** Set write mode for the specified slave (0-3).
+    @param num Slave number (0-3)
+    @param mode New write mode for specified slave (0 = register address + data, 1 = data only)
+    @see getSlaveWriteMode()
+    @see MPU6050_RA_I2C_SLV0_CTRL
+*/
+void MPU6050::setSlaveWriteMode(uint8_t num, bool mode) {
+    if (num > 3) {
+        return;
+    }
+    I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num * 3, MPU6050_I2C_SLV_REG_DIS_BIT, mode);
+}
+/** Get word pair grouping order offset for the specified slave (0-3).
+    This sets specifies the grouping order of word pairs received from registers.
+    When cleared to 0, bytes from register addresses 0 and 1, 2 and 3, etc (even,
+    then odd register addresses) are paired to form a word. When set to 1, bytes
+    from register addresses are paired 1 and 2, 3 and 4, etc. (odd, then even
+    register addresses) are paired to form a word.
+
+    @param num Slave number (0-3)
+    @return Current word pair grouping order offset for specified slave
+    @see MPU6050_RA_I2C_SLV0_CTRL
+*/
+bool MPU6050::getSlaveWordGroupOffset(uint8_t num) {
+    if (num > 3) {
+        return 0;
+    }
+    I2Cdev::readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num * 3, MPU6050_I2C_SLV_GRP_BIT, buffer);
+    return buffer[0];
+}
+/** Set word pair grouping order offset for the specified slave (0-3).
+    @param num Slave number (0-3)
+    @param enabled New word pair grouping order offset for specified slave
+    @see getSlaveWordGroupOffset()
+    @see MPU6050_RA_I2C_SLV0_CTRL
+*/
+void MPU6050::setSlaveWordGroupOffset(uint8_t num, bool enabled) {
+    if (num > 3) {
+        return;
+    }
+    I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num * 3, MPU6050_I2C_SLV_GRP_BIT, enabled);
+}
+/** Get number of bytes to read for the specified slave (0-3).
+    Specifies the number of bytes transferred to and from Slave 0. Clearing this
+    bit to 0 is equivalent to disabling the register by writing 0 to I2C_SLV0_EN.
+    @param num Slave number (0-3)
+    @return Number of bytes to read for specified slave
+    @see MPU6050_RA_I2C_SLV0_CTRL
+*/
+uint8_t MPU6050::getSlaveDataLength(uint8_t num) {
+    if (num > 3) {
+        return 0;
+    }
+    I2Cdev::readBits(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num * 3, MPU6050_I2C_SLV_LEN_BIT, MPU6050_I2C_SLV_LEN_LENGTH,
+                     buffer);
+    return buffer[0];
+}
+/** Set number of bytes to read for the specified slave (0-3).
+    @param num Slave number (0-3)
+    @param length Number of bytes to read for specified slave
+    @see getSlaveDataLength()
+    @see MPU6050_RA_I2C_SLV0_CTRL
+*/
+void MPU6050::setSlaveDataLength(uint8_t num, uint8_t length) {
+    if (num > 3) {
+        return;
+    }
+    I2Cdev::writeBits(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num * 3, MPU6050_I2C_SLV_LEN_BIT, MPU6050_I2C_SLV_LEN_LENGTH,
+                      length);
+}
+
+// I2C_SLV* registers (Slave 4)
+
+/** Get the I2C address of Slave 4.
+    Note that Bit 7 (MSB) controls read/write mode. If Bit 7 is set, it's a read
+    operation, and if it is cleared, then it's a write operation. The remaining
+    bits (6-0) are the 7-bit device address of the slave device.
+
+    @return Current address for Slave 4
+    @see getSlaveAddress()
+    @see MPU6050_RA_I2C_SLV4_ADDR
+*/
+uint8_t MPU6050::getSlave4Address() {
+    I2Cdev::readByte(devAddr, MPU6050_RA_I2C_SLV4_ADDR, buffer);
+    return buffer[0];
+}
+/** Set the I2C address of Slave 4.
+    @param address New address for Slave 4
+    @see getSlave4Address()
+    @see MPU6050_RA_I2C_SLV4_ADDR
+*/
+void MPU6050::setSlave4Address(uint8_t address) {
+    I2Cdev::writeByte(devAddr, MPU6050_RA_I2C_SLV4_ADDR, address);
+}
+/** Get the active internal register for the Slave 4.
+    Read/write operations for this slave will be done to whatever internal
+    register address is stored in this MPU register.
+
+    @return Current active register for Slave 4
+    @see MPU6050_RA_I2C_SLV4_REG
+*/
+uint8_t MPU6050::getSlave4Register() {
+    I2Cdev::readByte(devAddr, MPU6050_RA_I2C_SLV4_REG, buffer);
+    return buffer[0];
+}
+/** Set the active internal register for Slave 4.
+    @param reg New active register for Slave 4
+    @see getSlave4Register()
+    @see MPU6050_RA_I2C_SLV4_REG
+*/
+void MPU6050::setSlave4Register(uint8_t reg) {
+    I2Cdev::writeByte(devAddr, MPU6050_RA_I2C_SLV4_REG, reg);
+}
+/** Set new byte to write to Slave 4.
+    This register stores the data to be written into the Slave 4. If I2C_SLV4_RW
+    is set 1 (set to read), this register has no effect.
+    @param data New byte to write to Slave 4
+    @see MPU6050_RA_I2C_SLV4_DO
+*/
+void MPU6050::setSlave4OutputByte(uint8_t data) {
+    I2Cdev::writeByte(devAddr, MPU6050_RA_I2C_SLV4_DO, data);
+}
+/** Get the enabled value for the Slave 4.
+    When set to 1, this bit enables Slave 4 for data transfer operations. When
+    cleared to 0, this bit disables Slave 4 from data transfer operations.
+    @return Current enabled value for Slave 4
+    @see MPU6050_RA_I2C_SLV4_CTRL
+*/
+bool MPU6050::getSlave4Enabled() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_EN_BIT, buffer);
+    return buffer[0];
+}
+/** Set the enabled value for Slave 4.
+    @param enabled New enabled value for Slave 4
+    @see getSlave4Enabled()
+    @see MPU6050_RA_I2C_SLV4_CTRL
+*/
+void MPU6050::setSlave4Enabled(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_EN_BIT, enabled);
+}
+/** Get the enabled value for Slave 4 transaction interrupts.
+    When set to 1, this bit enables the generation of an interrupt signal upon
+    completion of a Slave 4 transaction. When cleared to 0, this bit disables the
+    generation of an interrupt signal upon completion of a Slave 4 transaction.
+    The interrupt status can be observed in Register 54.
+
+    @return Current enabled value for Slave 4 transaction interrupts.
+    @see MPU6050_RA_I2C_SLV4_CTRL
+*/
+bool MPU6050::getSlave4InterruptEnabled() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_INT_EN_BIT, buffer);
+    return buffer[0];
+}
+/** Set the enabled value for Slave 4 transaction interrupts.
+    @param enabled New enabled value for Slave 4 transaction interrupts.
+    @see getSlave4InterruptEnabled()
+    @see MPU6050_RA_I2C_SLV4_CTRL
+*/
+void MPU6050::setSlave4InterruptEnabled(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_INT_EN_BIT, enabled);
+}
+/** Get write mode for Slave 4.
+    When set to 1, the transaction will read or write data only. When cleared to
+    0, the transaction will write a register address prior to reading or writing
+    data. This should equal 0 when specifying the register address within the
+    Slave device to/from which the ensuing data transaction will take place.
+
+    @return Current write mode for Slave 4 (0 = register address + data, 1 = data only)
+    @see MPU6050_RA_I2C_SLV4_CTRL
+*/
+bool MPU6050::getSlave4WriteMode() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_REG_DIS_BIT, buffer);
+    return buffer[0];
+}
+/** Set write mode for the Slave 4.
+    @param mode New write mode for Slave 4 (0 = register address + data, 1 = data only)
+    @see getSlave4WriteMode()
+    @see MPU6050_RA_I2C_SLV4_CTRL
+*/
+void MPU6050::setSlave4WriteMode(bool mode) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_REG_DIS_BIT, mode);
+}
+/** Get Slave 4 master delay value.
+    This configures the reduced access rate of I2C slaves relative to the Sample
+    Rate. When a slave's access rate is decreased relative to the Sample Rate,
+    the slave is accessed every:
+
+       1 / (1 + I2C_MST_DLY) samples
+
+    This base Sample Rate in turn is determined by SMPLRT_DIV (register 25) and
+    DLPF_CFG (register 26). Whether a slave's access rate is reduced relative to
+    the Sample Rate is determined by I2C_MST_DELAY_CTRL (register 103). For
+    further information regarding the Sample Rate, please refer to register 25.
+
+    @return Current Slave 4 master delay value
+    @see MPU6050_RA_I2C_SLV4_CTRL
+*/
+uint8_t MPU6050::getSlave4MasterDelay() {
+    I2Cdev::readBits(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_MST_DLY_BIT, MPU6050_I2C_SLV4_MST_DLY_LENGTH,
+                     buffer);
+    return buffer[0];
+}
+/** Set Slave 4 master delay value.
+    @param delay New Slave 4 master delay value
+    @see getSlave4MasterDelay()
+    @see MPU6050_RA_I2C_SLV4_CTRL
+*/
+void MPU6050::setSlave4MasterDelay(uint8_t delay) {
+    I2Cdev::writeBits(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_MST_DLY_BIT, MPU6050_I2C_SLV4_MST_DLY_LENGTH,
+                      delay);
+}
+/** Get last available byte read from Slave 4.
+    This register stores the data read from Slave 4. This field is populated
+    after a read transaction.
+    @return Last available byte read from to Slave 4
+    @see MPU6050_RA_I2C_SLV4_DI
+*/
+uint8_t MPU6050::getSlate4InputByte() {
+    I2Cdev::readByte(devAddr, MPU6050_RA_I2C_SLV4_DI, buffer);
+    return buffer[0];
+}
+
+// I2C_MST_STATUS register
+
+/** Get FSYNC interrupt status.
+    This bit reflects the status of the FSYNC interrupt from an external device
+    into the MPU-60X0. This is used as a way to pass an external interrupt
+    through the MPU-60X0 to the host application processor. When set to 1, this
+    bit will cause an interrupt if FSYNC_INT_EN is asserted in INT_PIN_CFG
+    (Register 55).
+    @return FSYNC interrupt status
+    @see MPU6050_RA_I2C_MST_STATUS
+*/
+bool MPU6050::getPassthroughStatus() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_PASS_THROUGH_BIT, buffer);
+    return buffer[0];
+}
+/** Get Slave 4 transaction done status.
+    Automatically sets to 1 when a Slave 4 transaction has completed. This
+    triggers an interrupt if the I2C_MST_INT_EN bit in the INT_ENABLE register
+    (Register 56) is asserted and if the SLV_4_DONE_INT bit is asserted in the
+    I2C_SLV4_CTRL register (Register 52).
+    @return Slave 4 transaction done status
+    @see MPU6050_RA_I2C_MST_STATUS
+*/
+bool MPU6050::getSlave4IsDone() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV4_DONE_BIT, buffer);
+    return buffer[0];
+}
+/** Get master arbitration lost status.
+    This bit automatically sets to 1 when the I2C Master has lost arbitration of
+    the auxiliary I2C bus (an error condition). This triggers an interrupt if the
+    I2C_MST_INT_EN bit in the INT_ENABLE register (Register 56) is asserted.
+    @return Master arbitration lost status
+    @see MPU6050_RA_I2C_MST_STATUS
+*/
+bool MPU6050::getLostArbitration() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_LOST_ARB_BIT, buffer);
+    return buffer[0];
+}
+/** Get Slave 4 NACK status.
+    This bit automatically sets to 1 when the I2C Master receives a NACK in a
+    transaction with Slave 4. This triggers an interrupt if the I2C_MST_INT_EN
+    bit in the INT_ENABLE register (Register 56) is asserted.
+    @return Slave 4 NACK interrupt status
+    @see MPU6050_RA_I2C_MST_STATUS
+*/
+bool MPU6050::getSlave4Nack() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV4_NACK_BIT, buffer);
+    return buffer[0];
+}
+/** Get Slave 3 NACK status.
+    This bit automatically sets to 1 when the I2C Master receives a NACK in a
+    transaction with Slave 3. This triggers an interrupt if the I2C_MST_INT_EN
+    bit in the INT_ENABLE register (Register 56) is asserted.
+    @return Slave 3 NACK interrupt status
+    @see MPU6050_RA_I2C_MST_STATUS
+*/
+bool MPU6050::getSlave3Nack() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV3_NACK_BIT, buffer);
+    return buffer[0];
+}
+/** Get Slave 2 NACK status.
+    This bit automatically sets to 1 when the I2C Master receives a NACK in a
+    transaction with Slave 2. This triggers an interrupt if the I2C_MST_INT_EN
+    bit in the INT_ENABLE register (Register 56) is asserted.
+    @return Slave 2 NACK interrupt status
+    @see MPU6050_RA_I2C_MST_STATUS
+*/
+bool MPU6050::getSlave2Nack() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV2_NACK_BIT, buffer);
+    return buffer[0];
+}
+/** Get Slave 1 NACK status.
+    This bit automatically sets to 1 when the I2C Master receives a NACK in a
+    transaction with Slave 1. This triggers an interrupt if the I2C_MST_INT_EN
+    bit in the INT_ENABLE register (Register 56) is asserted.
+    @return Slave 1 NACK interrupt status
+    @see MPU6050_RA_I2C_MST_STATUS
+*/
+bool MPU6050::getSlave1Nack() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV1_NACK_BIT, buffer);
+    return buffer[0];
+}
+/** Get Slave 0 NACK status.
+    This bit automatically sets to 1 when the I2C Master receives a NACK in a
+    transaction with Slave 0. This triggers an interrupt if the I2C_MST_INT_EN
+    bit in the INT_ENABLE register (Register 56) is asserted.
+    @return Slave 0 NACK interrupt status
+    @see MPU6050_RA_I2C_MST_STATUS
+*/
+bool MPU6050::getSlave0Nack() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV0_NACK_BIT, buffer);
+    return buffer[0];
+}
+
+// INT_PIN_CFG register
+
+/** Get interrupt logic level mode.
+    Will be set 0 for active-high, 1 for active-low.
+    @return Current interrupt mode (0=active-high, 1=active-low)
+    @see MPU6050_RA_INT_PIN_CFG
+    @see MPU6050_INTCFG_INT_LEVEL_BIT
+*/
+bool MPU6050::getInterruptMode() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_LEVEL_BIT, buffer);
+    return buffer[0];
+}
+/** Set interrupt logic level mode.
+    @param mode New interrupt mode (0=active-high, 1=active-low)
+    @see getInterruptMode()
+    @see MPU6050_RA_INT_PIN_CFG
+    @see MPU6050_INTCFG_INT_LEVEL_BIT
+*/
+void MPU6050::setInterruptMode(bool mode) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_LEVEL_BIT, mode);
+}
+/** Get interrupt drive mode.
+    Will be set 0 for push-pull, 1 for open-drain.
+    @return Current interrupt drive mode (0=push-pull, 1=open-drain)
+    @see MPU6050_RA_INT_PIN_CFG
+    @see MPU6050_INTCFG_INT_OPEN_BIT
+*/
+bool MPU6050::getInterruptDrive() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_OPEN_BIT, buffer);
+    return buffer[0];
+}
+/** Set interrupt drive mode.
+    @param drive New interrupt drive mode (0=push-pull, 1=open-drain)
+    @see getInterruptDrive()
+    @see MPU6050_RA_INT_PIN_CFG
+    @see MPU6050_INTCFG_INT_OPEN_BIT
+*/
+void MPU6050::setInterruptDrive(bool drive) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_OPEN_BIT, drive);
+}
+/** Get interrupt latch mode.
+    Will be set 0 for 50us-pulse, 1 for latch-until-int-cleared.
+    @return Current latch mode (0=50us-pulse, 1=latch-until-int-cleared)
+    @see MPU6050_RA_INT_PIN_CFG
+    @see MPU6050_INTCFG_LATCH_INT_EN_BIT
+*/
+bool MPU6050::getInterruptLatch() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_LATCH_INT_EN_BIT, buffer);
+    return buffer[0];
+}
+/** Set interrupt latch mode.
+    @param latch New latch mode (0=50us-pulse, 1=latch-until-int-cleared)
+    @see getInterruptLatch()
+    @see MPU6050_RA_INT_PIN_CFG
+    @see MPU6050_INTCFG_LATCH_INT_EN_BIT
+*/
+void MPU6050::setInterruptLatch(bool latch) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_LATCH_INT_EN_BIT, latch);
+}
+/** Get interrupt latch clear mode.
+    Will be set 0 for status-read-only, 1 for any-register-read.
+    @return Current latch clear mode (0=status-read-only, 1=any-register-read)
+    @see MPU6050_RA_INT_PIN_CFG
+    @see MPU6050_INTCFG_INT_RD_CLEAR_BIT
+*/
+bool MPU6050::getInterruptLatchClear() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_RD_CLEAR_BIT, buffer);
+    return buffer[0];
+}
+/** Set interrupt latch clear mode.
+    @param clear New latch clear mode (0=status-read-only, 1=any-register-read)
+    @see getInterruptLatchClear()
+    @see MPU6050_RA_INT_PIN_CFG
+    @see MPU6050_INTCFG_INT_RD_CLEAR_BIT
+*/
+void MPU6050::setInterruptLatchClear(bool clear) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_RD_CLEAR_BIT, clear);
+}
+/** Get FSYNC interrupt logic level mode.
+    @return Current FSYNC interrupt mode (0=active-high, 1=active-low)
+    @see getFSyncInterruptMode()
+    @see MPU6050_RA_INT_PIN_CFG
+    @see MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT
+*/
+bool MPU6050::getFSyncInterruptLevel() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT, buffer);
+    return buffer[0];
+}
+/** Set FSYNC interrupt logic level mode.
+    @param mode New FSYNC interrupt mode (0=active-high, 1=active-low)
+    @see getFSyncInterruptMode()
+    @see MPU6050_RA_INT_PIN_CFG
+    @see MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT
+*/
+void MPU6050::setFSyncInterruptLevel(bool level) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT, level);
+}
+/** Get FSYNC pin interrupt enabled setting.
+    Will be set 0 for disabled, 1 for enabled.
+    @return Current interrupt enabled setting
+    @see MPU6050_RA_INT_PIN_CFG
+    @see MPU6050_INTCFG_FSYNC_INT_EN_BIT
+*/
+bool MPU6050::getFSyncInterruptEnabled() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_EN_BIT, buffer);
+    return buffer[0];
+}
+/** Set FSYNC pin interrupt enabled setting.
+    @param enabled New FSYNC pin interrupt enabled setting
+    @see getFSyncInterruptEnabled()
+    @see MPU6050_RA_INT_PIN_CFG
+    @see MPU6050_INTCFG_FSYNC_INT_EN_BIT
+*/
+void MPU6050::setFSyncInterruptEnabled(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_EN_BIT, enabled);
+}
+/** Get I2C bypass enabled status.
+    When this bit is equal to 1 and I2C_MST_EN (Register 106 bit[5]) is equal to
+    0, the host application processor will be able to directly access the
+    auxiliary I2C bus of the MPU-60X0. When this bit is equal to 0, the host
+    application processor will not be able to directly access the auxiliary I2C
+    bus of the MPU-60X0 regardless of the state of I2C_MST_EN (Register 106
+    bit[5]).
+    @return Current I2C bypass enabled status
+    @see MPU6050_RA_INT_PIN_CFG
+    @see MPU6050_INTCFG_I2C_BYPASS_EN_BIT
+*/
+bool MPU6050::getI2CBypassEnabled() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_I2C_BYPASS_EN_BIT, buffer);
+    return buffer[0];
+}
+/** Set I2C bypass enabled status.
+    When this bit is equal to 1 and I2C_MST_EN (Register 106 bit[5]) is equal to
+    0, the host application processor will be able to directly access the
+    auxiliary I2C bus of the MPU-60X0. When this bit is equal to 0, the host
+    application processor will not be able to directly access the auxiliary I2C
+    bus of the MPU-60X0 regardless of the state of I2C_MST_EN (Register 106
+    bit[5]).
+    @param enabled New I2C bypass enabled status
+    @see MPU6050_RA_INT_PIN_CFG
+    @see MPU6050_INTCFG_I2C_BYPASS_EN_BIT
+*/
+void MPU6050::setI2CBypassEnabled(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_I2C_BYPASS_EN_BIT, enabled);
+}
+/** Get reference clock output enabled status.
+    When this bit is equal to 1, a reference clock output is provided at the
+    CLKOUT pin. When this bit is equal to 0, the clock output is disabled. For
+    further information regarding CLKOUT, please refer to the MPU-60X0 Product
+    Specification document.
+    @return Current reference clock output enabled status
+    @see MPU6050_RA_INT_PIN_CFG
+    @see MPU6050_INTCFG_CLKOUT_EN_BIT
+*/
+bool MPU6050::getClockOutputEnabled() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_CLKOUT_EN_BIT, buffer);
+    return buffer[0];
+}
+/** Set reference clock output enabled status.
+    When this bit is equal to 1, a reference clock output is provided at the
+    CLKOUT pin. When this bit is equal to 0, the clock output is disabled. For
+    further information regarding CLKOUT, please refer to the MPU-60X0 Product
+    Specification document.
+    @param enabled New reference clock output enabled status
+    @see MPU6050_RA_INT_PIN_CFG
+    @see MPU6050_INTCFG_CLKOUT_EN_BIT
+*/
+void MPU6050::setClockOutputEnabled(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_CLKOUT_EN_BIT, enabled);
+}
+
+// INT_ENABLE register
+
+/** Get full interrupt enabled status.
+    Full register byte for all interrupts, for quick reading. Each bit will be
+    set 0 for disabled, 1 for enabled.
+    @return Current interrupt enabled status
+    @see MPU6050_RA_INT_ENABLE
+    @see MPU6050_INTERRUPT_FF_BIT
+ **/
+uint8_t MPU6050::getIntEnabled() {
+    I2Cdev::readByte(devAddr, MPU6050_RA_INT_ENABLE, buffer);
+    return buffer[0];
+}
+/** Set full interrupt enabled status.
+    Full register byte for all interrupts, for quick reading. Each bit should be
+    set 0 for disabled, 1 for enabled.
+    @param enabled New interrupt enabled status
+    @see getIntFreefallEnabled()
+    @see MPU6050_RA_INT_ENABLE
+    @see MPU6050_INTERRUPT_FF_BIT
+ **/
+void MPU6050::setIntEnabled(uint8_t enabled) {
+    I2Cdev::writeByte(devAddr, MPU6050_RA_INT_ENABLE, enabled);
+}
+/** Get Free Fall interrupt enabled status.
+    Will be set 0 for disabled, 1 for enabled.
+    @return Current interrupt enabled status
+    @see MPU6050_RA_INT_ENABLE
+    @see MPU6050_INTERRUPT_FF_BIT
+ **/
+bool MPU6050::getIntFreefallEnabled() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FF_BIT, buffer);
+    return buffer[0];
+}
+/** Set Free Fall interrupt enabled status.
+    @param enabled New interrupt enabled status
+    @see getIntFreefallEnabled()
+    @see MPU6050_RA_INT_ENABLE
+    @see MPU6050_INTERRUPT_FF_BIT
+ **/
+void MPU6050::setIntFreefallEnabled(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FF_BIT, enabled);
+}
+/** Get Motion Detection interrupt enabled status.
+    Will be set 0 for disabled, 1 for enabled.
+    @return Current interrupt enabled status
+    @see MPU6050_RA_INT_ENABLE
+    @see MPU6050_INTERRUPT_MOT_BIT
+ **/
+bool MPU6050::getIntMotionEnabled() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_MOT_BIT, buffer);
+    return buffer[0];
+}
+/** Set Motion Detection interrupt enabled status.
+    @param enabled New interrupt enabled status
+    @see getIntMotionEnabled()
+    @see MPU6050_RA_INT_ENABLE
+    @see MPU6050_INTERRUPT_MOT_BIT
+ **/
+void MPU6050::setIntMotionEnabled(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_MOT_BIT, enabled);
+}
+/** Get Zero Motion Detection interrupt enabled status.
+    Will be set 0 for disabled, 1 for enabled.
+    @return Current interrupt enabled status
+    @see MPU6050_RA_INT_ENABLE
+    @see MPU6050_INTERRUPT_ZMOT_BIT
+ **/
+bool MPU6050::getIntZeroMotionEnabled() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_ZMOT_BIT, buffer);
+    return buffer[0];
+}
+/** Set Zero Motion Detection interrupt enabled status.
+    @param enabled New interrupt enabled status
+    @see getIntZeroMotionEnabled()
+    @see MPU6050_RA_INT_ENABLE
+    @see MPU6050_INTERRUPT_ZMOT_BIT
+ **/
+void MPU6050::setIntZeroMotionEnabled(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_ZMOT_BIT, enabled);
+}
+/** Get FIFO Buffer Overflow interrupt enabled status.
+    Will be set 0 for disabled, 1 for enabled.
+    @return Current interrupt enabled status
+    @see MPU6050_RA_INT_ENABLE
+    @see MPU6050_INTERRUPT_FIFO_OFLOW_BIT
+ **/
+bool MPU6050::getIntFIFOBufferOverflowEnabled() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FIFO_OFLOW_BIT, buffer);
+    return buffer[0];
+}
+/** Set FIFO Buffer Overflow interrupt enabled status.
+    @param enabled New interrupt enabled status
+    @see getIntFIFOBufferOverflowEnabled()
+    @see MPU6050_RA_INT_ENABLE
+    @see MPU6050_INTERRUPT_FIFO_OFLOW_BIT
+ **/
+void MPU6050::setIntFIFOBufferOverflowEnabled(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FIFO_OFLOW_BIT, enabled);
+}
+/** Get I2C Master interrupt enabled status.
+    This enables any of the I2C Master interrupt sources to generate an
+    interrupt. Will be set 0 for disabled, 1 for enabled.
+    @return Current interrupt enabled status
+    @see MPU6050_RA_INT_ENABLE
+    @see MPU6050_INTERRUPT_I2C_MST_INT_BIT
+ **/
+bool MPU6050::getIntI2CMasterEnabled() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_I2C_MST_INT_BIT, buffer);
+    return buffer[0];
+}
+/** Set I2C Master interrupt enabled status.
+    @param enabled New interrupt enabled status
+    @see getIntI2CMasterEnabled()
+    @see MPU6050_RA_INT_ENABLE
+    @see MPU6050_INTERRUPT_I2C_MST_INT_BIT
+ **/
+void MPU6050::setIntI2CMasterEnabled(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_I2C_MST_INT_BIT, enabled);
+}
+/** Get Data Ready interrupt enabled setting.
+    This event occurs each time a write operation to all of the sensor registers
+    has been completed. Will be set 0 for disabled, 1 for enabled.
+    @return Current interrupt enabled status
+    @see MPU6050_RA_INT_ENABLE
+    @see MPU6050_INTERRUPT_DATA_RDY_BIT
+*/
+bool MPU6050::getIntDataReadyEnabled() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DATA_RDY_BIT, buffer);
+    return buffer[0];
+}
+/** Set Data Ready interrupt enabled status.
+    @param enabled New interrupt enabled status
+    @see getIntDataReadyEnabled()
+    @see MPU6050_RA_INT_CFG
+    @see MPU6050_INTERRUPT_DATA_RDY_BIT
+*/
+void MPU6050::setIntDataReadyEnabled(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DATA_RDY_BIT, enabled);
+}
+
+// INT_STATUS register
+
+/** Get full set of interrupt status bits.
+    These bits clear to 0 after the register has been read. Very useful
+    for getting multiple INT statuses, since each single bit read clears
+    all of them because it has to read the whole byte.
+    @return Current interrupt status
+    @see MPU6050_RA_INT_STATUS
+*/
+uint8_t MPU6050::getIntStatus() {
+    I2Cdev::readByte(devAddr, MPU6050_RA_INT_STATUS, buffer);
+    return buffer[0];
+}
+/** Get Free Fall interrupt status.
+    This bit automatically sets to 1 when a Free Fall interrupt has been
+    generated. The bit clears to 0 after the register has been read.
+    @return Current interrupt status
+    @see MPU6050_RA_INT_STATUS
+    @see MPU6050_INTERRUPT_FF_BIT
+*/
+bool MPU6050::getIntFreefallStatus() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_FF_BIT, buffer);
+    return buffer[0];
+}
+/** Get Motion Detection interrupt status.
+    This bit automatically sets to 1 when a Motion Detection interrupt has been
+    generated. The bit clears to 0 after the register has been read.
+    @return Current interrupt status
+    @see MPU6050_RA_INT_STATUS
+    @see MPU6050_INTERRUPT_MOT_BIT
+*/
+bool MPU6050::getIntMotionStatus() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_MOT_BIT, buffer);
+    return buffer[0];
+}
+/** Get Zero Motion Detection interrupt status.
+    This bit automatically sets to 1 when a Zero Motion Detection interrupt has
+    been generated. The bit clears to 0 after the register has been read.
+    @return Current interrupt status
+    @see MPU6050_RA_INT_STATUS
+    @see MPU6050_INTERRUPT_ZMOT_BIT
+*/
+bool MPU6050::getIntZeroMotionStatus() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_ZMOT_BIT, buffer);
+    return buffer[0];
+}
+/** Get FIFO Buffer Overflow interrupt status.
+    This bit automatically sets to 1 when a Free Fall interrupt has been
+    generated. The bit clears to 0 after the register has been read.
+    @return Current interrupt status
+    @see MPU6050_RA_INT_STATUS
+    @see MPU6050_INTERRUPT_FIFO_OFLOW_BIT
+*/
+bool MPU6050::getIntFIFOBufferOverflowStatus() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_FIFO_OFLOW_BIT, buffer);
+    return buffer[0];
+}
+/** Get I2C Master interrupt status.
+    This bit automatically sets to 1 when an I2C Master interrupt has been
+    generated. For a list of I2C Master interrupts, please refer to Register 54.
+    The bit clears to 0 after the register has been read.
+    @return Current interrupt status
+    @see MPU6050_RA_INT_STATUS
+    @see MPU6050_INTERRUPT_I2C_MST_INT_BIT
+*/
+bool MPU6050::getIntI2CMasterStatus() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_I2C_MST_INT_BIT, buffer);
+    return buffer[0];
+}
+/** Get Data Ready interrupt status.
+    This bit automatically sets to 1 when a Data Ready interrupt has been
+    generated. The bit clears to 0 after the register has been read.
+    @return Current interrupt status
+    @see MPU6050_RA_INT_STATUS
+    @see MPU6050_INTERRUPT_DATA_RDY_BIT
+*/
+bool MPU6050::getIntDataReadyStatus() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_DATA_RDY_BIT, buffer);
+    return buffer[0];
+}
+
+// ACCEL_*OUT_* registers
+
+/** Get raw 9-axis motion sensor readings (accel/gyro/compass).
+    FUNCTION NOT FULLY IMPLEMENTED YET.
+    @param ax 16-bit signed integer container for accelerometer X-axis value
+    @param ay 16-bit signed integer container for accelerometer Y-axis value
+    @param az 16-bit signed integer container for accelerometer Z-axis value
+    @param gx 16-bit signed integer container for gyroscope X-axis value
+    @param gy 16-bit signed integer container for gyroscope Y-axis value
+    @param gz 16-bit signed integer container for gyroscope Z-axis value
+    @param mx 16-bit signed integer container for magnetometer X-axis value
+    @param my 16-bit signed integer container for magnetometer Y-axis value
+    @param mz 16-bit signed integer container for magnetometer Z-axis value
+    @see getMotion6()
+    @see getAcceleration()
+    @see getRotation()
+    @see MPU6050_RA_ACCEL_XOUT_H
+*/
+void MPU6050::getMotion9(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int16_t* gy, int16_t* gz, int16_t* mx,
+                         int16_t* my, int16_t* mz) {
+
+    //get accel and gyro
+    getMotion6(ax, ay, az, gx, gy, gz);
+
+    //read mag
+    I2Cdev::writeByte(devAddr, MPU6050_RA_INT_PIN_CFG, 0x02); //set i2c bypass enable pin to true to access magnetometer
+    delay(10);
+    I2Cdev::writeByte(MPU9150_RA_MAG_ADDRESS, 0x0A, 0x01); //enable the magnetometer
+    delay(10);
+    I2Cdev::readBytes(MPU9150_RA_MAG_ADDRESS, MPU9150_RA_MAG_XOUT_L, 6, buffer);
+    *mx = (((int16_t)buffer[1]) << 8) | buffer[0];
+    *my = (((int16_t)buffer[3]) << 8) | buffer[2];
+    *mz = (((int16_t)buffer[5]) << 8) | buffer[4];
+}
+/** Get raw 6-axis motion sensor readings (accel/gyro).
+    Retrieves all currently available motion sensor values.
+    @param ax 16-bit signed integer container for accelerometer X-axis value
+    @param ay 16-bit signed integer container for accelerometer Y-axis value
+    @param az 16-bit signed integer container for accelerometer Z-axis value
+    @param gx 16-bit signed integer container for gyroscope X-axis value
+    @param gy 16-bit signed integer container for gyroscope Y-axis value
+    @param gz 16-bit signed integer container for gyroscope Z-axis value
+    @see getAcceleration()
+    @see getRotation()
+    @see MPU6050_RA_ACCEL_XOUT_H
+*/
+void MPU6050::getMotion6(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int16_t* gy, int16_t* gz) {
+    I2Cdev::readBytes(devAddr, MPU6050_RA_ACCEL_XOUT_H, 14, buffer);
+    *ax = (((int16_t)buffer[0]) << 8) | buffer[1];
+    *ay = (((int16_t)buffer[2]) << 8) | buffer[3];
+    *az = (((int16_t)buffer[4]) << 8) | buffer[5];
+    *gx = (((int16_t)buffer[8]) << 8) | buffer[9];
+    *gy = (((int16_t)buffer[10]) << 8) | buffer[11];
+    *gz = (((int16_t)buffer[12]) << 8) | buffer[13];
+}
+/** Get 3-axis accelerometer readings.
+    These registers store the most recent accelerometer measurements.
+    Accelerometer measurements are written to these registers at the Sample Rate
+    as defined in Register 25.
+
+    The accelerometer measurement registers, along with the temperature
+    measurement registers, gyroscope measurement registers, and external sensor
+    data registers, are composed of two sets of registers: an internal register
+    set and a user-facing read register set.
+
+    The data within the accelerometer sensors' internal register set is always
+    updated at the Sample Rate. Meanwhile, the user-facing read register set
+    duplicates the internal register set's data values whenever the serial
+    interface is idle. This guarantees that a burst read of sensor registers will
+    read measurements from the same sampling instant. Note that if burst reads
+    are not used, the user is responsible for ensuring a set of single byte reads
+    correspond to a single sampling instant by checking the Data Ready interrupt.
+
+    Each 16-bit accelerometer measurement has a full scale defined in ACCEL_FS
+    (Register 28). For each full scale setting, the accelerometers' sensitivity
+    per LSB in ACCEL_xOUT is shown in the table below:
+
+    <pre>
+    AFS_SEL | Full Scale Range | LSB Sensitivity
+    --------+------------------+----------------
+    0       | +/- 2g           | 8192 LSB/mg
+    1       | +/- 4g           | 4096 LSB/mg
+    2       | +/- 8g           | 2048 LSB/mg
+    3       | +/- 16g          | 1024 LSB/mg
+    </pre>
+
+    @param x 16-bit signed integer container for X-axis acceleration
+    @param y 16-bit signed integer container for Y-axis acceleration
+    @param z 16-bit signed integer container for Z-axis acceleration
+    @see MPU6050_RA_GYRO_XOUT_H
+*/
+void MPU6050::getAcceleration(int16_t* x, int16_t* y, int16_t* z) {
+    I2Cdev::readBytes(devAddr, MPU6050_RA_ACCEL_XOUT_H, 6, buffer);
+    *x = (((int16_t)buffer[0]) << 8) | buffer[1];
+    *y = (((int16_t)buffer[2]) << 8) | buffer[3];
+    *z = (((int16_t)buffer[4]) << 8) | buffer[5];
+}
+/** Get X-axis accelerometer reading.
+    @return X-axis acceleration measurement in 16-bit 2's complement format
+    @see getMotion6()
+    @see MPU6050_RA_ACCEL_XOUT_H
+*/
+int16_t MPU6050::getAccelerationX() {
+    I2Cdev::readBytes(devAddr, MPU6050_RA_ACCEL_XOUT_H, 2, buffer);
+    return (((int16_t)buffer[0]) << 8) | buffer[1];
+}
+/** Get Y-axis accelerometer reading.
+    @return Y-axis acceleration measurement in 16-bit 2's complement format
+    @see getMotion6()
+    @see MPU6050_RA_ACCEL_YOUT_H
+*/
+int16_t MPU6050::getAccelerationY() {
+    I2Cdev::readBytes(devAddr, MPU6050_RA_ACCEL_YOUT_H, 2, buffer);
+    return (((int16_t)buffer[0]) << 8) | buffer[1];
+}
+/** Get Z-axis accelerometer reading.
+    @return Z-axis acceleration measurement in 16-bit 2's complement format
+    @see getMotion6()
+    @see MPU6050_RA_ACCEL_ZOUT_H
+*/
+int16_t MPU6050::getAccelerationZ() {
+    I2Cdev::readBytes(devAddr, MPU6050_RA_ACCEL_ZOUT_H, 2, buffer);
+    return (((int16_t)buffer[0]) << 8) | buffer[1];
+}
+
+// TEMP_OUT_* registers
+
+/** Get current internal temperature.
+    @return Temperature reading in 16-bit 2's complement format
+    @see MPU6050_RA_TEMP_OUT_H
+*/
+int16_t MPU6050::getTemperature() {
+    I2Cdev::readBytes(devAddr, MPU6050_RA_TEMP_OUT_H, 2, buffer);
+    return (((int16_t)buffer[0]) << 8) | buffer[1];
+}
+
+// GYRO_*OUT_* registers
+
+/** Get 3-axis gyroscope readings.
+    These gyroscope measurement registers, along with the accelerometer
+    measurement registers, temperature measurement registers, and external sensor
+    data registers, are composed of two sets of registers: an internal register
+    set and a user-facing read register set.
+    The data within the gyroscope sensors' internal register set is always
+    updated at the Sample Rate. Meanwhile, the user-facing read register set
+    duplicates the internal register set's data values whenever the serial
+    interface is idle. This guarantees that a burst read of sensor registers will
+    read measurements from the same sampling instant. Note that if burst reads
+    are not used, the user is responsible for ensuring a set of single byte reads
+    correspond to a single sampling instant by checking the Data Ready interrupt.
+
+    Each 16-bit gyroscope measurement has a full scale defined in FS_SEL
+    (Register 27). For each full scale setting, the gyroscopes' sensitivity per
+    LSB in GYRO_xOUT is shown in the table below:
+
+    <pre>
+    FS_SEL | Full Scale Range   | LSB Sensitivity
+    -------+--------------------+----------------
+    0      | +/- 250 degrees/s  | 131 LSB/deg/s
+    1      | +/- 500 degrees/s  | 65.5 LSB/deg/s
+    2      | +/- 1000 degrees/s | 32.8 LSB/deg/s
+    3      | +/- 2000 degrees/s | 16.4 LSB/deg/s
+    </pre>
+
+    @param x 16-bit signed integer container for X-axis rotation
+    @param y 16-bit signed integer container for Y-axis rotation
+    @param z 16-bit signed integer container for Z-axis rotation
+    @see getMotion6()
+    @see MPU6050_RA_GYRO_XOUT_H
+*/
+void MPU6050::getRotation(int16_t* x, int16_t* y, int16_t* z) {
+    I2Cdev::readBytes(devAddr, MPU6050_RA_GYRO_XOUT_H, 6, buffer);
+    *x = (((int16_t)buffer[0]) << 8) | buffer[1];
+    *y = (((int16_t)buffer[2]) << 8) | buffer[3];
+    *z = (((int16_t)buffer[4]) << 8) | buffer[5];
+}
+/** Get X-axis gyroscope reading.
+    @return X-axis rotation measurement in 16-bit 2's complement format
+    @see getMotion6()
+    @see MPU6050_RA_GYRO_XOUT_H
+*/
+int16_t MPU6050::getRotationX() {
+    I2Cdev::readBytes(devAddr, MPU6050_RA_GYRO_XOUT_H, 2, buffer);
+    return (((int16_t)buffer[0]) << 8) | buffer[1];
+}
+/** Get Y-axis gyroscope reading.
+    @return Y-axis rotation measurement in 16-bit 2's complement format
+    @see getMotion6()
+    @see MPU6050_RA_GYRO_YOUT_H
+*/
+int16_t MPU6050::getRotationY() {
+    I2Cdev::readBytes(devAddr, MPU6050_RA_GYRO_YOUT_H, 2, buffer);
+    return (((int16_t)buffer[0]) << 8) | buffer[1];
+}
+/** Get Z-axis gyroscope reading.
+    @return Z-axis rotation measurement in 16-bit 2's complement format
+    @see getMotion6()
+    @see MPU6050_RA_GYRO_ZOUT_H
+*/
+int16_t MPU6050::getRotationZ() {
+    I2Cdev::readBytes(devAddr, MPU6050_RA_GYRO_ZOUT_H, 2, buffer);
+    return (((int16_t)buffer[0]) << 8) | buffer[1];
+}
+
+// EXT_SENS_DATA_* registers
+
+/** Read single byte from external sensor data register.
+    These registers store data read from external sensors by the Slave 0, 1, 2,
+    and 3 on the auxiliary I2C interface. Data read by Slave 4 is stored in
+    I2C_SLV4_DI (Register 53).
+
+    External sensor data is written to these registers at the Sample Rate as
+    defined in Register 25. This access rate can be reduced by using the Slave
+    Delay Enable registers (Register 103).
+
+    External sensor data registers, along with the gyroscope measurement
+    registers, accelerometer measurement registers, and temperature measurement
+    registers, are composed of two sets of registers: an internal register set
+    and a user-facing read register set.
+
+    The data within the external sensors' internal register set is always updated
+    at the Sample Rate (or the reduced access rate) whenever the serial interface
+    is idle. This guarantees that a burst read of sensor registers will read
+    measurements from the same sampling instant. Note that if burst reads are not
+    used, the user is responsible for ensuring a set of single byte reads
+    correspond to a single sampling instant by checking the Data Ready interrupt.
+
+    Data is placed in these external sensor data registers according to
+    I2C_SLV0_CTRL, I2C_SLV1_CTRL, I2C_SLV2_CTRL, and I2C_SLV3_CTRL (Registers 39,
+    42, 45, and 48). When more than zero bytes are read (I2C_SLVx_LEN > 0) from
+    an enabled slave (I2C_SLVx_EN = 1), the slave is read at the Sample Rate (as
+    defined in Register 25) or delayed rate (if specified in Register 52 and
+    103). During each Sample cycle, slave reads are performed in order of Slave
+    number. If all slaves are enabled with more than zero bytes to be read, the
+    order will be Slave 0, followed by Slave 1, Slave 2, and Slave 3.
+
+    Each enabled slave will have EXT_SENS_DATA registers associated with it by
+    number of bytes read (I2C_SLVx_LEN) in order of slave number, starting from
+    EXT_SENS_DATA_00. Note that this means enabling or disabling a slave may
+    change the higher numbered slaves' associated registers. Furthermore, if
+    fewer total bytes are being read from the external sensors as a result of
+    such a change, then the data remaining in the registers which no longer have
+    an associated slave device (i.e. high numbered registers) will remain in
+    these previously allocated registers unless reset.
+
+    If the sum of the read lengths of all SLVx transactions exceed the number of
+    available EXT_SENS_DATA registers, the excess bytes will be dropped. There
+    are 24 EXT_SENS_DATA registers and hence the total read lengths between all
+    the slaves cannot be greater than 24 or some bytes will be lost.
+
+    Note: Slave 4's behavior is distinct from that of Slaves 0-3. For further
+    information regarding the characteristics of Slave 4, please refer to
+    Registers 49 to 53.
+
+    EXAMPLE:
+    Suppose that Slave 0 is enabled with 4 bytes to be read (I2C_SLV0_EN = 1 and
+    I2C_SLV0_LEN = 4) while Slave 1 is enabled with 2 bytes to be read so that
+    I2C_SLV1_EN = 1 and I2C_SLV1_LEN = 2. In such a situation, EXT_SENS_DATA _00
+    through _03 will be associated with Slave 0, while EXT_SENS_DATA _04 and 05
+    will be associated with Slave 1. If Slave 2 is enabled as well, registers
+    starting from EXT_SENS_DATA_06 will be allocated to Slave 2.
+
+    If Slave 2 is disabled while Slave 3 is enabled in this same situation, then
+    registers starting from EXT_SENS_DATA_06 will be allocated to Slave 3
+    instead.
+
+    REGISTER ALLOCATION FOR DYNAMIC DISABLE VS. NORMAL DISABLE:
+    If a slave is disabled at any time, the space initially allocated to the
+    slave in the EXT_SENS_DATA register, will remain associated with that slave.
+    This is to avoid dynamic adjustment of the register allocation.
+
+    The allocation of the EXT_SENS_DATA registers is recomputed only when (1) all
+    slaves are disabled, or (2) the I2C_MST_RST bit is set (Register 106).
+
+    This above is also true if one of the slaves gets NACKed and stops
+    functioning.
+
+    @param position Starting position (0-23)
+    @return Byte read from register
+*/
+uint8_t MPU6050::getExternalSensorByte(int position) {
+    I2Cdev::readByte(devAddr, MPU6050_RA_EXT_SENS_DATA_00 + position, buffer);
+    return buffer[0];
+}
+/** Read word (2 bytes) from external sensor data registers.
+    @param position Starting position (0-21)
+    @return Word read from register
+    @see getExternalSensorByte()
+*/
+uint16_t MPU6050::getExternalSensorWord(int position) {
+    I2Cdev::readBytes(devAddr, MPU6050_RA_EXT_SENS_DATA_00 + position, 2, buffer);
+    return (((uint16_t)buffer[0]) << 8) | buffer[1];
+}
+/** Read double word (4 bytes) from external sensor data registers.
+    @param position Starting position (0-20)
+    @return Double word read from registers
+    @see getExternalSensorByte()
+*/
+uint32_t MPU6050::getExternalSensorDWord(int position) {
+    I2Cdev::readBytes(devAddr, MPU6050_RA_EXT_SENS_DATA_00 + position, 4, buffer);
+    return (((uint32_t)buffer[0]) << 24) | (((uint32_t)buffer[1]) << 16) | (((uint16_t)buffer[2]) << 8) | buffer[3];
+}
+
+// MOT_DETECT_STATUS register
+
+/** Get X-axis negative motion detection interrupt status.
+    @return Motion detection status
+    @see MPU6050_RA_MOT_DETECT_STATUS
+    @see MPU6050_MOTION_MOT_XNEG_BIT
+*/
+bool MPU6050::getXNegMotionDetected() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_XNEG_BIT, buffer);
+    return buffer[0];
+}
+/** Get X-axis positive motion detection interrupt status.
+    @return Motion detection status
+    @see MPU6050_RA_MOT_DETECT_STATUS
+    @see MPU6050_MOTION_MOT_XPOS_BIT
+*/
+bool MPU6050::getXPosMotionDetected() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_XPOS_BIT, buffer);
+    return buffer[0];
+}
+/** Get Y-axis negative motion detection interrupt status.
+    @return Motion detection status
+    @see MPU6050_RA_MOT_DETECT_STATUS
+    @see MPU6050_MOTION_MOT_YNEG_BIT
+*/
+bool MPU6050::getYNegMotionDetected() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_YNEG_BIT, buffer);
+    return buffer[0];
+}
+/** Get Y-axis positive motion detection interrupt status.
+    @return Motion detection status
+    @see MPU6050_RA_MOT_DETECT_STATUS
+    @see MPU6050_MOTION_MOT_YPOS_BIT
+*/
+bool MPU6050::getYPosMotionDetected() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_YPOS_BIT, buffer);
+    return buffer[0];
+}
+/** Get Z-axis negative motion detection interrupt status.
+    @return Motion detection status
+    @see MPU6050_RA_MOT_DETECT_STATUS
+    @see MPU6050_MOTION_MOT_ZNEG_BIT
+*/
+bool MPU6050::getZNegMotionDetected() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZNEG_BIT, buffer);
+    return buffer[0];
+}
+/** Get Z-axis positive motion detection interrupt status.
+    @return Motion detection status
+    @see MPU6050_RA_MOT_DETECT_STATUS
+    @see MPU6050_MOTION_MOT_ZPOS_BIT
+*/
+bool MPU6050::getZPosMotionDetected() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZPOS_BIT, buffer);
+    return buffer[0];
+}
+/** Get zero motion detection interrupt status.
+    @return Motion detection status
+    @see MPU6050_RA_MOT_DETECT_STATUS
+    @see MPU6050_MOTION_MOT_ZRMOT_BIT
+*/
+bool MPU6050::getZeroMotionDetected() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZRMOT_BIT, buffer);
+    return buffer[0];
+}
+
+// I2C_SLV*_DO register
+
+/** Write byte to Data Output container for specified slave.
+    This register holds the output data written into Slave when Slave is set to
+    write mode. For further information regarding Slave control, please
+    refer to Registers 37 to 39 and immediately following.
+    @param num Slave number (0-3)
+    @param data Byte to write
+    @see MPU6050_RA_I2C_SLV0_DO
+*/
+void MPU6050::setSlaveOutputByte(uint8_t num, uint8_t data) {
+    if (num > 3) {
+        return;
+    }
+    I2Cdev::writeByte(devAddr, MPU6050_RA_I2C_SLV0_DO + num, data);
+}
+
+// I2C_MST_DELAY_CTRL register
+
+/** Get external data shadow delay enabled status.
+    This register is used to specify the timing of external sensor data
+    shadowing. When DELAY_ES_SHADOW is set to 1, shadowing of external
+    sensor data is delayed until all data has been received.
+    @return Current external data shadow delay enabled status.
+    @see MPU6050_RA_I2C_MST_DELAY_CTRL
+    @see MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT
+*/
+bool MPU6050::getExternalShadowDelayEnabled() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT, buffer);
+    return buffer[0];
+}
+/** Set external data shadow delay enabled status.
+    @param enabled New external data shadow delay enabled status.
+    @see getExternalShadowDelayEnabled()
+    @see MPU6050_RA_I2C_MST_DELAY_CTRL
+    @see MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT
+*/
+void MPU6050::setExternalShadowDelayEnabled(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT, enabled);
+}
+/** Get slave delay enabled status.
+    When a particular slave delay is enabled, the rate of access for the that
+    slave device is reduced. When a slave's access rate is decreased relative to
+    the Sample Rate, the slave is accessed every:
+
+       1 / (1 + I2C_MST_DLY) Samples
+
+    This base Sample Rate in turn is determined by SMPLRT_DIV (register  * 25)
+    and DLPF_CFG (register 26).
+
+    For further information regarding I2C_MST_DLY, please refer to register 52.
+    For further information regarding the Sample Rate, please refer to register 25.
+
+    @param num Slave number (0-4)
+    @return Current slave delay enabled status.
+    @see MPU6050_RA_I2C_MST_DELAY_CTRL
+    @see MPU6050_DELAYCTRL_I2C_SLV0_DLY_EN_BIT
+*/
+bool MPU6050::getSlaveDelayEnabled(uint8_t num) {
+    // MPU6050_DELAYCTRL_I2C_SLV4_DLY_EN_BIT is 4, SLV3 is 3, etc.
+    if (num > 4) {
+        return 0;
+    }
+    I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, num, buffer);
+    return buffer[0];
+}
+/** Set slave delay enabled status.
+    @param num Slave number (0-4)
+    @param enabled New slave delay enabled status.
+    @see MPU6050_RA_I2C_MST_DELAY_CTRL
+    @see MPU6050_DELAYCTRL_I2C_SLV0_DLY_EN_BIT
+*/
+void MPU6050::setSlaveDelayEnabled(uint8_t num, bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, num, enabled);
+}
+
+// SIGNAL_PATH_RESET register
+
+/** Reset gyroscope signal path.
+    The reset will revert the signal path analog to digital converters and
+    filters to their power up configurations.
+    @see MPU6050_RA_SIGNAL_PATH_RESET
+    @see MPU6050_PATHRESET_GYRO_RESET_BIT
+*/
+void MPU6050::resetGyroscopePath() {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_GYRO_RESET_BIT, true);
+}
+/** Reset accelerometer signal path.
+    The reset will revert the signal path analog to digital converters and
+    filters to their power up configurations.
+    @see MPU6050_RA_SIGNAL_PATH_RESET
+    @see MPU6050_PATHRESET_ACCEL_RESET_BIT
+*/
+void MPU6050::resetAccelerometerPath() {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_ACCEL_RESET_BIT, true);
+}
+/** Reset temperature sensor signal path.
+    The reset will revert the signal path analog to digital converters and
+    filters to their power up configurations.
+    @see MPU6050_RA_SIGNAL_PATH_RESET
+    @see MPU6050_PATHRESET_TEMP_RESET_BIT
+*/
+void MPU6050::resetTemperaturePath() {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_TEMP_RESET_BIT, true);
+}
+
+// MOT_DETECT_CTRL register
+
+/** Get accelerometer power-on delay.
+    The accelerometer data path provides samples to the sensor registers, Motion
+    detection, Zero Motion detection, and Free Fall detection modules. The
+    signal path contains filters which must be flushed on wake-up with new
+    samples before the detection modules begin operations. The default wake-up
+    delay, of 4ms can be lengthened by up to 3ms. This additional delay is
+    specified in ACCEL_ON_DELAY in units of 1 LSB = 1 ms. The user may select
+    any value above zero unless instructed otherwise by InvenSense. Please refer
+    to Section 8 of the MPU-6000/MPU-6050 Product Specification document for
+    further information regarding the detection modules.
+    @return Current accelerometer power-on delay
+    @see MPU6050_RA_MOT_DETECT_CTRL
+    @see MPU6050_DETECT_ACCEL_ON_DELAY_BIT
+*/
+uint8_t MPU6050::getAccelerometerPowerOnDelay() {
+    I2Cdev::readBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_ACCEL_ON_DELAY_BIT,
+                     MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH, buffer);
+    return buffer[0];
+}
+/** Set accelerometer power-on delay.
+    @param delay New accelerometer power-on delay (0-3)
+    @see getAccelerometerPowerOnDelay()
+    @see MPU6050_RA_MOT_DETECT_CTRL
+    @see MPU6050_DETECT_ACCEL_ON_DELAY_BIT
+*/
+void MPU6050::setAccelerometerPowerOnDelay(uint8_t delay) {
+    I2Cdev::writeBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_ACCEL_ON_DELAY_BIT,
+                      MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH, delay);
+}
+/** Get Free Fall detection counter decrement configuration.
+    Detection is registered by the Free Fall detection module after accelerometer
+    measurements meet their respective threshold conditions over a specified
+    number of samples. When the threshold conditions are met, the corresponding
+    detection counter increments by 1. The user may control the rate at which the
+    detection counter decrements when the threshold condition is not met by
+    configuring FF_COUNT. The decrement rate can be set according to the
+    following table:
+
+    <pre>
+    FF_COUNT | Counter Decrement
+    ---------+------------------
+    0        | Reset
+    1        | 1
+    2        | 2
+    3        | 4
+    </pre>
+
+    When FF_COUNT is configured to 0 (reset), any non-qualifying sample will
+    reset the counter to 0. For further information on Free Fall detection,
+    please refer to Registers 29 to 32.
+
+    @return Current decrement configuration
+    @see MPU6050_RA_MOT_DETECT_CTRL
+    @see MPU6050_DETECT_FF_COUNT_BIT
+*/
+uint8_t MPU6050::getFreefallDetectionCounterDecrement() {
+    I2Cdev::readBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_FF_COUNT_BIT, MPU6050_DETECT_FF_COUNT_LENGTH,
+                     buffer);
+    return buffer[0];
+}
+/** Set Free Fall detection counter decrement configuration.
+    @param decrement New decrement configuration value
+    @see getFreefallDetectionCounterDecrement()
+    @see MPU6050_RA_MOT_DETECT_CTRL
+    @see MPU6050_DETECT_FF_COUNT_BIT
+*/
+void MPU6050::setFreefallDetectionCounterDecrement(uint8_t decrement) {
+    I2Cdev::writeBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_FF_COUNT_BIT, MPU6050_DETECT_FF_COUNT_LENGTH,
+                      decrement);
+}
+/** Get Motion detection counter decrement configuration.
+    Detection is registered by the Motion detection module after accelerometer
+    measurements meet their respective threshold conditions over a specified
+    number of samples. When the threshold conditions are met, the corresponding
+    detection counter increments by 1. The user may control the rate at which the
+    detection counter decrements when the threshold condition is not met by
+    configuring MOT_COUNT. The decrement rate can be set according to the
+    following table:
+
+    <pre>
+    MOT_COUNT | Counter Decrement
+    ----------+------------------
+    0         | Reset
+    1         | 1
+    2         | 2
+    3         | 4
+    </pre>
+
+    When MOT_COUNT is configured to 0 (reset), any non-qualifying sample will
+    reset the counter to 0. For further information on Motion detection,
+    please refer to Registers 29 to 32.
+
+*/
+uint8_t MPU6050::getMotionDetectionCounterDecrement() {
+    I2Cdev::readBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_MOT_COUNT_BIT, MPU6050_DETECT_MOT_COUNT_LENGTH,
+                     buffer);
+    return buffer[0];
+}
+/** Set Motion detection counter decrement configuration.
+    @param decrement New decrement configuration value
+    @see getMotionDetectionCounterDecrement()
+    @see MPU6050_RA_MOT_DETECT_CTRL
+    @see MPU6050_DETECT_MOT_COUNT_BIT
+*/
+void MPU6050::setMotionDetectionCounterDecrement(uint8_t decrement) {
+    I2Cdev::writeBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_MOT_COUNT_BIT, MPU6050_DETECT_MOT_COUNT_LENGTH,
+                      decrement);
+}
+
+// USER_CTRL register
+
+/** Get FIFO enabled status.
+    When this bit is set to 0, the FIFO buffer is disabled. The FIFO buffer
+    cannot be written to or read from while disabled. The FIFO buffer's state
+    does not change unless the MPU-60X0 is power cycled.
+    @return Current FIFO enabled status
+    @see MPU6050_RA_USER_CTRL
+    @see MPU6050_USERCTRL_FIFO_EN_BIT
+*/
+bool MPU6050::getFIFOEnabled() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_EN_BIT, buffer);
+    return buffer[0];
+}
+/** Set FIFO enabled status.
+    @param enabled New FIFO enabled status
+    @see getFIFOEnabled()
+    @see MPU6050_RA_USER_CTRL
+    @see MPU6050_USERCTRL_FIFO_EN_BIT
+*/
+void MPU6050::setFIFOEnabled(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_EN_BIT, enabled);
+}
+/** Get I2C Master Mode enabled status.
+    When this mode is enabled, the MPU-60X0 acts as the I2C Master to the
+    external sensor slave devices on the auxiliary I2C bus. When this bit is
+    cleared to 0, the auxiliary I2C bus lines (AUX_DA and AUX_CL) are logically
+    driven by the primary I2C bus (SDA and SCL). This is a precondition to
+    enabling Bypass Mode. For further information regarding Bypass Mode, please
+    refer to Register 55.
+    @return Current I2C Master Mode enabled status
+    @see MPU6050_RA_USER_CTRL
+    @see MPU6050_USERCTRL_I2C_MST_EN_BIT
+*/
+bool MPU6050::getI2CMasterModeEnabled() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_EN_BIT, buffer);
+    return buffer[0];
+}
+/** Set I2C Master Mode enabled status.
+    @param enabled New I2C Master Mode enabled status
+    @see getI2CMasterModeEnabled()
+    @see MPU6050_RA_USER_CTRL
+    @see MPU6050_USERCTRL_I2C_MST_EN_BIT
+*/
+void MPU6050::setI2CMasterModeEnabled(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_EN_BIT, enabled);
+}
+/** Switch from I2C to SPI mode (MPU-6000 only)
+    If this is set, the primary SPI interface will be enabled in place of the
+    disabled primary I2C interface.
+*/
+void MPU6050::switchSPIEnabled(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_IF_DIS_BIT, enabled);
+}
+/** Reset the FIFO.
+    This bit resets the FIFO buffer when set to 1 while FIFO_EN equals 0. This
+    bit automatically clears to 0 after the reset has been triggered.
+    @see MPU6050_RA_USER_CTRL
+    @see MPU6050_USERCTRL_FIFO_RESET_BIT
+*/
+void MPU6050::resetFIFO() {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_RESET_BIT, true);
+}
+/** Reset the I2C Master.
+    This bit resets the I2C Master when set to 1 while I2C_MST_EN equals 0.
+    This bit automatically clears to 0 after the reset has been triggered.
+    @see MPU6050_RA_USER_CTRL
+    @see MPU6050_USERCTRL_I2C_MST_RESET_BIT
+*/
+void MPU6050::resetI2CMaster() {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_RESET_BIT, true);
+}
+/** Reset all sensor registers and signal paths.
+    When set to 1, this bit resets the signal paths for all sensors (gyroscopes,
+    accelerometers, and temperature sensor). This operation will also clear the
+    sensor registers. This bit automatically clears to 0 after the reset has been
+    triggered.
+
+    When resetting only the signal path (and not the sensor registers), please
+    use Register 104, SIGNAL_PATH_RESET.
+
+    @see MPU6050_RA_USER_CTRL
+    @see MPU6050_USERCTRL_SIG_COND_RESET_BIT
+*/
+void MPU6050::resetSensors() {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_SIG_COND_RESET_BIT, true);
+}
+
+// PWR_MGMT_1 register
+
+/** Trigger a full device reset.
+    A small delay of ~50ms may be desirable after triggering a reset.
+    @see MPU6050_RA_PWR_MGMT_1
+    @see MPU6050_PWR1_DEVICE_RESET_BIT
+*/
+void MPU6050::reset() {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_DEVICE_RESET_BIT, true);
+}
+/** Get sleep mode status.
+    Setting the SLEEP bit in the register puts the device into very low power
+    sleep mode. In this mode, only the serial interface and internal registers
+    remain active, allowing for a very low standby current. Clearing this bit
+    puts the device back into normal mode. To save power, the individual standby
+    selections for each of the gyros should be used if any gyro axis is not used
+    by the application.
+    @return Current sleep mode enabled status
+    @see MPU6050_RA_PWR_MGMT_1
+    @see MPU6050_PWR1_SLEEP_BIT
+*/
+bool MPU6050::getSleepEnabled() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_SLEEP_BIT, buffer);
+    return buffer[0];
+}
+/** Set sleep mode status.
+    @param enabled New sleep mode enabled status
+    @see getSleepEnabled()
+    @see MPU6050_RA_PWR_MGMT_1
+    @see MPU6050_PWR1_SLEEP_BIT
+*/
+void MPU6050::setSleepEnabled(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_SLEEP_BIT, enabled);
+}
+/** Get wake cycle enabled status.
+    When this bit is set to 1 and SLEEP is disabled, the MPU-60X0 will cycle
+    between sleep mode and waking up to take a single sample of data from active
+    sensors at a rate determined by LP_WAKE_CTRL (register 108).
+    @return Current sleep mode enabled status
+    @see MPU6050_RA_PWR_MGMT_1
+    @see MPU6050_PWR1_CYCLE_BIT
+*/
+bool MPU6050::getWakeCycleEnabled() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CYCLE_BIT, buffer);
+    return buffer[0];
+}
+/** Set wake cycle enabled status.
+    @param enabled New sleep mode enabled status
+    @see getWakeCycleEnabled()
+    @see MPU6050_RA_PWR_MGMT_1
+    @see MPU6050_PWR1_CYCLE_BIT
+*/
+void MPU6050::setWakeCycleEnabled(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CYCLE_BIT, enabled);
+}
+/** Get temperature sensor enabled status.
+    Control the usage of the internal temperature sensor.
+
+    Note: this register stores the *disabled* value, but for consistency with the
+    rest of the code, the function is named and used with standard true/false
+    values to indicate whether the sensor is enabled or disabled, respectively.
+
+    @return Current temperature sensor enabled status
+    @see MPU6050_RA_PWR_MGMT_1
+    @see MPU6050_PWR1_TEMP_DIS_BIT
+*/
+bool MPU6050::getTempSensorEnabled() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_TEMP_DIS_BIT, buffer);
+    return buffer[0] == 0; // 1 is actually disabled here
+}
+/** Set temperature sensor enabled status.
+    Note: this register stores the *disabled* value, but for consistency with the
+    rest of the code, the function is named and used with standard true/false
+    values to indicate whether the sensor is enabled or disabled, respectively.
+
+    @param enabled New temperature sensor enabled status
+    @see getTempSensorEnabled()
+    @see MPU6050_RA_PWR_MGMT_1
+    @see MPU6050_PWR1_TEMP_DIS_BIT
+*/
+void MPU6050::setTempSensorEnabled(bool enabled) {
+    // 1 is actually disabled here
+    I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_TEMP_DIS_BIT, !enabled);
+}
+/** Get clock source setting.
+    @return Current clock source setting
+    @see MPU6050_RA_PWR_MGMT_1
+    @see MPU6050_PWR1_CLKSEL_BIT
+    @see MPU6050_PWR1_CLKSEL_LENGTH
+*/
+uint8_t MPU6050::getClockSource() {
+    I2Cdev::readBits(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CLKSEL_BIT, MPU6050_PWR1_CLKSEL_LENGTH, buffer);
+    return buffer[0];
+}
+/** Set clock source setting.
+    An internal 8MHz oscillator, gyroscope based clock, or external sources can
+    be selected as the MPU-60X0 clock source. When the internal 8 MHz oscillator
+    or an external source is chosen as the clock source, the MPU-60X0 can operate
+    in low power modes with the gyroscopes disabled.
+
+    Upon power up, the MPU-60X0 clock source defaults to the internal oscillator.
+    However, it is highly recommended that the device be configured to use one of
+    the gyroscopes (or an external clock source) as the clock reference for
+    improved stability. The clock source can be selected according to the following table:
+
+    <pre>
+    CLK_SEL | Clock Source
+    --------+--------------------------------------
+    0       | Internal oscillator
+    1       | PLL with X Gyro reference
+    2       | PLL with Y Gyro reference
+    3       | PLL with Z Gyro reference
+    4       | PLL with external 32.768kHz reference
+    5       | PLL with external 19.2MHz reference
+    6       | Reserved
+    7       | Stops the clock and keeps the timing generator in reset
+    </pre>
+
+    @param source New clock source setting
+    @see getClockSource()
+    @see MPU6050_RA_PWR_MGMT_1
+    @see MPU6050_PWR1_CLKSEL_BIT
+    @see MPU6050_PWR1_CLKSEL_LENGTH
+*/
+void MPU6050::setClockSource(uint8_t source) {
+    I2Cdev::writeBits(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CLKSEL_BIT, MPU6050_PWR1_CLKSEL_LENGTH, source);
+}
+
+// PWR_MGMT_2 register
+
+/** Get wake frequency in Accel-Only Low Power Mode.
+    The MPU-60X0 can be put into Accerlerometer Only Low Power Mode by setting
+    PWRSEL to 1 in the Power Management 1 register (Register 107). In this mode,
+    the device will power off all devices except for the primary I2C interface,
+    waking only the accelerometer at fixed intervals to take a single
+    measurement. The frequency of wake-ups can be configured with LP_WAKE_CTRL
+    as shown below:
+
+    <pre>
+    LP_WAKE_CTRL | Wake-up Frequency
+    -------------+------------------
+    0            | 1.25 Hz
+    1            | 2.5 Hz
+    2            | 5 Hz
+    3            | 10 Hz
+    <pre>
+
+    For further information regarding the MPU-60X0's power modes, please refer to
+    Register 107.
+
+    @return Current wake frequency
+    @see MPU6050_RA_PWR_MGMT_2
+*/
+uint8_t MPU6050::getWakeFrequency() {
+    I2Cdev::readBits(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_LP_WAKE_CTRL_BIT, MPU6050_PWR2_LP_WAKE_CTRL_LENGTH,
+                     buffer);
+    return buffer[0];
+}
+/** Set wake frequency in Accel-Only Low Power Mode.
+    @param frequency New wake frequency
+    @see MPU6050_RA_PWR_MGMT_2
+*/
+void MPU6050::setWakeFrequency(uint8_t frequency) {
+    I2Cdev::writeBits(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_LP_WAKE_CTRL_BIT, MPU6050_PWR2_LP_WAKE_CTRL_LENGTH,
+                      frequency);
+}
+
+/** Get X-axis accelerometer standby enabled status.
+    If enabled, the X-axis will not gather or report data (or use power).
+    @return Current X-axis standby enabled status
+    @see MPU6050_RA_PWR_MGMT_2
+    @see MPU6050_PWR2_STBY_XA_BIT
+*/
+bool MPU6050::getStandbyXAccelEnabled() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XA_BIT, buffer);
+    return buffer[0];
+}
+/** Set X-axis accelerometer standby enabled status.
+    @param New X-axis standby enabled status
+    @see getStandbyXAccelEnabled()
+    @see MPU6050_RA_PWR_MGMT_2
+    @see MPU6050_PWR2_STBY_XA_BIT
+*/
+void MPU6050::setStandbyXAccelEnabled(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XA_BIT, enabled);
+}
+/** Get Y-axis accelerometer standby enabled status.
+    If enabled, the Y-axis will not gather or report data (or use power).
+    @return Current Y-axis standby enabled status
+    @see MPU6050_RA_PWR_MGMT_2
+    @see MPU6050_PWR2_STBY_YA_BIT
+*/
+bool MPU6050::getStandbyYAccelEnabled() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YA_BIT, buffer);
+    return buffer[0];
+}
+/** Set Y-axis accelerometer standby enabled status.
+    @param New Y-axis standby enabled status
+    @see getStandbyYAccelEnabled()
+    @see MPU6050_RA_PWR_MGMT_2
+    @see MPU6050_PWR2_STBY_YA_BIT
+*/
+void MPU6050::setStandbyYAccelEnabled(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YA_BIT, enabled);
+}
+/** Get Z-axis accelerometer standby enabled status.
+    If enabled, the Z-axis will not gather or report data (or use power).
+    @return Current Z-axis standby enabled status
+    @see MPU6050_RA_PWR_MGMT_2
+    @see MPU6050_PWR2_STBY_ZA_BIT
+*/
+bool MPU6050::getStandbyZAccelEnabled() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZA_BIT, buffer);
+    return buffer[0];
+}
+/** Set Z-axis accelerometer standby enabled status.
+    @param New Z-axis standby enabled status
+    @see getStandbyZAccelEnabled()
+    @see MPU6050_RA_PWR_MGMT_2
+    @see MPU6050_PWR2_STBY_ZA_BIT
+*/
+void MPU6050::setStandbyZAccelEnabled(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZA_BIT, enabled);
+}
+/** Get X-axis gyroscope standby enabled status.
+    If enabled, the X-axis will not gather or report data (or use power).
+    @return Current X-axis standby enabled status
+    @see MPU6050_RA_PWR_MGMT_2
+    @see MPU6050_PWR2_STBY_XG_BIT
+*/
+bool MPU6050::getStandbyXGyroEnabled() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XG_BIT, buffer);
+    return buffer[0];
+}
+/** Set X-axis gyroscope standby enabled status.
+    @param New X-axis standby enabled status
+    @see getStandbyXGyroEnabled()
+    @see MPU6050_RA_PWR_MGMT_2
+    @see MPU6050_PWR2_STBY_XG_BIT
+*/
+void MPU6050::setStandbyXGyroEnabled(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XG_BIT, enabled);
+}
+/** Get Y-axis gyroscope standby enabled status.
+    If enabled, the Y-axis will not gather or report data (or use power).
+    @return Current Y-axis standby enabled status
+    @see MPU6050_RA_PWR_MGMT_2
+    @see MPU6050_PWR2_STBY_YG_BIT
+*/
+bool MPU6050::getStandbyYGyroEnabled() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YG_BIT, buffer);
+    return buffer[0];
+}
+/** Set Y-axis gyroscope standby enabled status.
+    @param New Y-axis standby enabled status
+    @see getStandbyYGyroEnabled()
+    @see MPU6050_RA_PWR_MGMT_2
+    @see MPU6050_PWR2_STBY_YG_BIT
+*/
+void MPU6050::setStandbyYGyroEnabled(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YG_BIT, enabled);
+}
+/** Get Z-axis gyroscope standby enabled status.
+    If enabled, the Z-axis will not gather or report data (or use power).
+    @return Current Z-axis standby enabled status
+    @see MPU6050_RA_PWR_MGMT_2
+    @see MPU6050_PWR2_STBY_ZG_BIT
+*/
+bool MPU6050::getStandbyZGyroEnabled() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZG_BIT, buffer);
+    return buffer[0];
+}
+/** Set Z-axis gyroscope standby enabled status.
+    @param New Z-axis standby enabled status
+    @see getStandbyZGyroEnabled()
+    @see MPU6050_RA_PWR_MGMT_2
+    @see MPU6050_PWR2_STBY_ZG_BIT
+*/
+void MPU6050::setStandbyZGyroEnabled(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZG_BIT, enabled);
+}
+
+// FIFO_COUNT* registers
+
+/** Get current FIFO buffer size.
+    This value indicates the number of bytes stored in the FIFO buffer. This
+    number is in turn the number of bytes that can be read from the FIFO buffer
+    and it is directly proportional to the number of samples available given the
+    set of sensor data bound to be stored in the FIFO (register 35 and 36).
+    @return Current FIFO buffer size
+*/
+uint16_t MPU6050::getFIFOCount() {
+    I2Cdev::readBytes(devAddr, MPU6050_RA_FIFO_COUNTH, 2, buffer);
+    return (((uint16_t)buffer[0]) << 8) | buffer[1];
+}
+
+// FIFO_R_W register
+
+/** Get byte from FIFO buffer.
+    This register is used to read and write data from the FIFO buffer. Data is
+    written to the FIFO in order of register number (from lowest to highest). If
+    all the FIFO enable flags (see below) are enabled and all External Sensor
+    Data registers (Registers 73 to 96) are associated with a Slave device, the
+    contents of registers 59 through 96 will be written in order at the Sample
+    Rate.
+
+    The contents of the sensor data registers (Registers 59 to 96) are written
+    into the FIFO buffer when their corresponding FIFO enable flags are set to 1
+    in FIFO_EN (Register 35). An additional flag for the sensor data registers
+    associated with I2C Slave 3 can be found in I2C_MST_CTRL (Register 36).
+
+    If the FIFO buffer has overflowed, the status bit FIFO_OFLOW_INT is
+    automatically set to 1. This bit is located in INT_STATUS (Register 58).
+    When the FIFO buffer has overflowed, the oldest data will be lost and new
+    data will be written to the FIFO.
+
+    If the FIFO buffer is empty, reading this register will return the last byte
+    that was previously read from the FIFO until new data is available. The user
+    should check FIFO_COUNT to ensure that the FIFO buffer is not read when
+    empty.
+
+    @return Byte from FIFO buffer
+*/
+uint8_t MPU6050::getFIFOByte() {
+    I2Cdev::readByte(devAddr, MPU6050_RA_FIFO_R_W, buffer);
+    return buffer[0];
+}
+void MPU6050::getFIFOBytes(uint8_t* data, uint8_t length) {
+    I2Cdev::readBytes(devAddr, MPU6050_RA_FIFO_R_W, length, data);
+}
+/** Write byte to FIFO buffer.
+    @see getFIFOByte()
+    @see MPU6050_RA_FIFO_R_W
+*/
+void MPU6050::setFIFOByte(uint8_t data) {
+    I2Cdev::writeByte(devAddr, MPU6050_RA_FIFO_R_W, data);
+}
+
+// WHO_AM_I register
+
+/** Get Device ID.
+    This register is used to verify the identity of the device (0b110100, 0x34).
+    @return Device ID (6 bits only! should be 0x34)
+    @see MPU6050_RA_WHO_AM_I
+    @see MPU6050_WHO_AM_I_BIT
+    @see MPU6050_WHO_AM_I_LENGTH
+*/
+uint8_t MPU6050::getDeviceID() {
+    I2Cdev::readBits(devAddr, MPU6050_RA_WHO_AM_I, MPU6050_WHO_AM_I_BIT, MPU6050_WHO_AM_I_LENGTH, buffer);
+    return buffer[0];
+}
+/** Set Device ID.
+    Write a new ID into the WHO_AM_I register (no idea why this should ever be
+    necessary though).
+    @param id New device ID to set.
+    @see getDeviceID()
+    @see MPU6050_RA_WHO_AM_I
+    @see MPU6050_WHO_AM_I_BIT
+    @see MPU6050_WHO_AM_I_LENGTH
+*/
+void MPU6050::setDeviceID(uint8_t id) {
+    I2Cdev::writeBits(devAddr, MPU6050_RA_WHO_AM_I, MPU6050_WHO_AM_I_BIT, MPU6050_WHO_AM_I_LENGTH, id);
+}
+
+// ======== UNDOCUMENTED/DMP REGISTERS/METHODS ========
+
+// XG_OFFS_TC register
+
+uint8_t MPU6050::getOTPBankValid() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OTP_BNK_VLD_BIT, buffer);
+    return buffer[0];
+}
+void MPU6050::setOTPBankValid(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OTP_BNK_VLD_BIT, enabled);
+}
+int8_t MPU6050::getXGyroOffset() {
+    I2Cdev::readBits(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, buffer);
+    return buffer[0];
+}
+void MPU6050::setXGyroOffset(int8_t offset) {
+    I2Cdev::writeBits(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, offset);
+}
+
+// YG_OFFS_TC register
+
+int8_t MPU6050::getYGyroOffset() {
+    I2Cdev::readBits(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, buffer);
+    return buffer[0];
+}
+void MPU6050::setYGyroOffset(int8_t offset) {
+    I2Cdev::writeBits(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, offset);
+}
+
+// ZG_OFFS_TC register
+
+int8_t MPU6050::getZGyroOffset() {
+    I2Cdev::readBits(devAddr, MPU6050_RA_ZG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, buffer);
+    return buffer[0];
+}
+void MPU6050::setZGyroOffset(int8_t offset) {
+    I2Cdev::writeBits(devAddr, MPU6050_RA_ZG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, offset);
+}
+
+// X_FINE_GAIN register
+
+int8_t MPU6050::getXFineGain() {
+    I2Cdev::readByte(devAddr, MPU6050_RA_X_FINE_GAIN, buffer);
+    return buffer[0];
+}
+void MPU6050::setXFineGain(int8_t gain) {
+    I2Cdev::writeByte(devAddr, MPU6050_RA_X_FINE_GAIN, gain);
+}
+
+// Y_FINE_GAIN register
+
+int8_t MPU6050::getYFineGain() {
+    I2Cdev::readByte(devAddr, MPU6050_RA_Y_FINE_GAIN, buffer);
+    return buffer[0];
+}
+void MPU6050::setYFineGain(int8_t gain) {
+    I2Cdev::writeByte(devAddr, MPU6050_RA_Y_FINE_GAIN, gain);
+}
+
+// Z_FINE_GAIN register
+
+int8_t MPU6050::getZFineGain() {
+    I2Cdev::readByte(devAddr, MPU6050_RA_Z_FINE_GAIN, buffer);
+    return buffer[0];
+}
+void MPU6050::setZFineGain(int8_t gain) {
+    I2Cdev::writeByte(devAddr, MPU6050_RA_Z_FINE_GAIN, gain);
+}
+
+// XA_OFFS_* registers
+
+int16_t MPU6050::getXAccelOffset() {
+    I2Cdev::readBytes(devAddr, MPU6050_RA_XA_OFFS_H, 2, buffer);
+    return (((int16_t)buffer[0]) << 8) | buffer[1];
+}
+void MPU6050::setXAccelOffset(int16_t offset) {
+    I2Cdev::writeWord(devAddr, MPU6050_RA_XA_OFFS_H, offset);
+}
+
+// YA_OFFS_* register
+
+int16_t MPU6050::getYAccelOffset() {
+    I2Cdev::readBytes(devAddr, MPU6050_RA_YA_OFFS_H, 2, buffer);
+    return (((int16_t)buffer[0]) << 8) | buffer[1];
+}
+void MPU6050::setYAccelOffset(int16_t offset) {
+    I2Cdev::writeWord(devAddr, MPU6050_RA_YA_OFFS_H, offset);
+}
+
+// ZA_OFFS_* register
+
+int16_t MPU6050::getZAccelOffset() {
+    I2Cdev::readBytes(devAddr, MPU6050_RA_ZA_OFFS_H, 2, buffer);
+    return (((int16_t)buffer[0]) << 8) | buffer[1];
+}
+void MPU6050::setZAccelOffset(int16_t offset) {
+    I2Cdev::writeWord(devAddr, MPU6050_RA_ZA_OFFS_H, offset);
+}
+
+// XG_OFFS_USR* registers
+
+int16_t MPU6050::getXGyroOffsetUser() {
+    I2Cdev::readBytes(devAddr, MPU6050_RA_XG_OFFS_USRH, 2, buffer);
+    return (((int16_t)buffer[0]) << 8) | buffer[1];
+}
+void MPU6050::setXGyroOffsetUser(int16_t offset) {
+    I2Cdev::writeWord(devAddr, MPU6050_RA_XG_OFFS_USRH, offset);
+}
+
+// YG_OFFS_USR* register
+
+int16_t MPU6050::getYGyroOffsetUser() {
+    I2Cdev::readBytes(devAddr, MPU6050_RA_YG_OFFS_USRH, 2, buffer);
+    return (((int16_t)buffer[0]) << 8) | buffer[1];
+}
+void MPU6050::setYGyroOffsetUser(int16_t offset) {
+    I2Cdev::writeWord(devAddr, MPU6050_RA_YG_OFFS_USRH, offset);
+}
+
+// ZG_OFFS_USR* register
+
+int16_t MPU6050::getZGyroOffsetUser() {
+    I2Cdev::readBytes(devAddr, MPU6050_RA_ZG_OFFS_USRH, 2, buffer);
+    return (((int16_t)buffer[0]) << 8) | buffer[1];
+}
+void MPU6050::setZGyroOffsetUser(int16_t offset) {
+    I2Cdev::writeWord(devAddr, MPU6050_RA_ZG_OFFS_USRH, offset);
+}
+
+// INT_ENABLE register (DMP functions)
+
+bool MPU6050::getIntPLLReadyEnabled() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_PLL_RDY_INT_BIT, buffer);
+    return buffer[0];
+}
+void MPU6050::setIntPLLReadyEnabled(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_PLL_RDY_INT_BIT, enabled);
+}
+bool MPU6050::getIntDMPEnabled() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DMP_INT_BIT, buffer);
+    return buffer[0];
+}
+void MPU6050::setIntDMPEnabled(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DMP_INT_BIT, enabled);
+}
+
+// DMP_INT_STATUS
+
+bool MPU6050::getDMPInt5Status() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_5_BIT, buffer);
+    return buffer[0];
+}
+bool MPU6050::getDMPInt4Status() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_4_BIT, buffer);
+    return buffer[0];
+}
+bool MPU6050::getDMPInt3Status() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_3_BIT, buffer);
+    return buffer[0];
+}
+bool MPU6050::getDMPInt2Status() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_2_BIT, buffer);
+    return buffer[0];
+}
+bool MPU6050::getDMPInt1Status() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_1_BIT, buffer);
+    return buffer[0];
+}
+bool MPU6050::getDMPInt0Status() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_0_BIT, buffer);
+    return buffer[0];
+}
+
+// INT_STATUS register (DMP functions)
+
+bool MPU6050::getIntPLLReadyStatus() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_PLL_RDY_INT_BIT, buffer);
+    return buffer[0];
+}
+bool MPU6050::getIntDMPStatus() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_DMP_INT_BIT, buffer);
+    return buffer[0];
+}
+
+// USER_CTRL register (DMP functions)
+
+bool MPU6050::getDMPEnabled() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_EN_BIT, buffer);
+    return buffer[0];
+}
+void MPU6050::setDMPEnabled(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_EN_BIT, enabled);
+}
+void MPU6050::resetDMP() {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_RESET_BIT, true);
+}
+
+// BANK_SEL register
+
+void MPU6050::setMemoryBank(uint8_t bank, bool prefetchEnabled, bool userBank) {
+    bank &= 0x1F;
+    if (userBank) {
+        bank |= 0x20;
+    }
+    if (prefetchEnabled) {
+        bank |= 0x40;
+    }
+    I2Cdev::writeByte(devAddr, MPU6050_RA_BANK_SEL, bank);
+}
+
+// MEM_START_ADDR register
+
+void MPU6050::setMemoryStartAddress(uint8_t address) {
+    I2Cdev::writeByte(devAddr, MPU6050_RA_MEM_START_ADDR, address);
+}
+
+// MEM_R_W register
+
+uint8_t MPU6050::readMemoryByte() {
+    I2Cdev::readByte(devAddr, MPU6050_RA_MEM_R_W, buffer);
+    return buffer[0];
+}
+void MPU6050::writeMemoryByte(uint8_t data) {
+    I2Cdev::writeByte(devAddr, MPU6050_RA_MEM_R_W, data);
+}
+void MPU6050::readMemoryBlock(uint8_t* data, uint16_t dataSize, uint8_t bank, uint8_t address) {
+    setMemoryBank(bank);
+    setMemoryStartAddress(address);
+    uint8_t chunkSize;
+    for (uint16_t i = 0; i < dataSize;) {
+        // determine correct chunk size according to bank position and data size
+        chunkSize = MPU6050_DMP_MEMORY_CHUNK_SIZE;
+
+        // make sure we don't go past the data size
+        if (i + chunkSize > dataSize) {
+            chunkSize = dataSize - i;
+        }
+
+        // make sure this chunk doesn't go past the bank boundary (256 bytes)
+        if (chunkSize > 256 - address) {
+            chunkSize = 256 - address;
+        }
+
+        // read the chunk of data as specified
+        I2Cdev::readBytes(devAddr, MPU6050_RA_MEM_R_W, chunkSize, data + i);
+
+        // increase byte index by [chunkSize]
+        i += chunkSize;
+
+        // uint8_t automatically wraps to 0 at 256
+        address += chunkSize;
+
+        // if we aren't done, update bank (if necessary) and address
+        if (i < dataSize) {
+            if (address == 0) {
+                bank++;
+            }
+            setMemoryBank(bank);
+            setMemoryStartAddress(address);
+        }
+    }
+}
+bool MPU6050::writeMemoryBlock(const uint8_t* data, uint16_t dataSize, uint8_t bank, uint8_t address, bool verify,
+                               bool useProgMem) {
+    setMemoryBank(bank);
+    setMemoryStartAddress(address);
+    uint8_t chunkSize;
+    uint8_t* verifyBuffer;
+    uint8_t* progBuffer;
+    uint16_t i;
+    uint8_t j;
+    if (verify) {
+        verifyBuffer = (uint8_t*)malloc(MPU6050_DMP_MEMORY_CHUNK_SIZE);
+    }
+    if (useProgMem) {
+        progBuffer = (uint8_t*)malloc(MPU6050_DMP_MEMORY_CHUNK_SIZE);
+    }
+    for (i = 0; i < dataSize;) {
+        // determine correct chunk size according to bank position and data size
+        chunkSize = MPU6050_DMP_MEMORY_CHUNK_SIZE;
+
+        // make sure we don't go past the data size
+        if (i + chunkSize > dataSize) {
+            chunkSize = dataSize - i;
+        }
+
+        // make sure this chunk doesn't go past the bank boundary (256 bytes)
+        if (chunkSize > 256 - address) {
+            chunkSize = 256 - address;
+        }
+
+        if (useProgMem) {
+            // write the chunk of data as specified
+            for (j = 0; j < chunkSize; j++) {
+                progBuffer[j] = pgm_read_byte(data + i + j);
+            }
+        } else {
+            // write the chunk of data as specified
+            progBuffer = (uint8_t*)data + i;
+        }
+
+        I2Cdev::writeBytes(devAddr, MPU6050_RA_MEM_R_W, chunkSize, progBuffer);
+
+        // verify data if needed
+        if (verify && verifyBuffer) {
+            setMemoryBank(bank);
+            setMemoryStartAddress(address);
+            I2Cdev::readBytes(devAddr, MPU6050_RA_MEM_R_W, chunkSize, verifyBuffer);
+            if (memcmp(progBuffer, verifyBuffer, chunkSize) != 0) {
+                /*  Serial.print("Block write verification error, bank ");
+                    Serial.print(bank, DEC);
+                    Serial.print(", address ");
+                    Serial.print(address, DEC);
+                    Serial.print("!\nExpected:");
+                    for (j = 0; j < chunkSize; j++) {
+                    Serial.print(" 0x");
+                    if (progBuffer[j] < 16) Serial.print("0");
+                    Serial.print(progBuffer[j], HEX);
+                    }
+                    Serial.print("\nReceived:");
+                    for (uint8_t j = 0; j < chunkSize; j++) {
+                    Serial.print(" 0x");
+                    if (verifyBuffer[i + j] < 16) Serial.print("0");
+                    Serial.print(verifyBuffer[i + j], HEX);
+                    }
+                    Serial.print("\n");*/
+                free(verifyBuffer);
+                if (useProgMem) {
+                    free(progBuffer);
+                }
+                return false; // uh oh.
+            }
+        }
+
+        // increase byte index by [chunkSize]
+        i += chunkSize;
+
+        // uint8_t automatically wraps to 0 at 256
+        address += chunkSize;
+
+        // if we aren't done, update bank (if necessary) and address
+        if (i < dataSize) {
+            if (address == 0) {
+                bank++;
+            }
+            setMemoryBank(bank);
+            setMemoryStartAddress(address);
+        }
+    }
+    if (verify) {
+        free(verifyBuffer);
+    }
+    if (useProgMem) {
+        free(progBuffer);
+    }
+    return true;
+}
+bool MPU6050::writeProgMemoryBlock(const uint8_t* data, uint16_t dataSize, uint8_t bank, uint8_t address, bool verify) {
+    return writeMemoryBlock(data, dataSize, bank, address, verify, true);
+}
+bool MPU6050::writeDMPConfigurationSet(const uint8_t* data, uint16_t dataSize, bool useProgMem) {
+    uint8_t* progBuffer, success, special;
+    uint16_t i, j;
+    if (useProgMem) {
+        progBuffer = (uint8_t*)malloc(8);  // assume 8-byte blocks, realloc later if necessary
+    }
+
+    // config set data is a long string of blocks with the following structure:
+    // [bank] [offset] [length] [byte[0], byte[1], ..., byte[length]]
+    uint8_t bank, offset, length;
+    for (i = 0; i < dataSize;) {
+        if (useProgMem) {
+            bank = pgm_read_byte(data + i++);
+            offset = pgm_read_byte(data + i++);
+            length = pgm_read_byte(data + i++);
+        } else {
+            bank = data[i++];
+            offset = data[i++];
+            length = data[i++];
+        }
+
+        // write data or perform special action
+        if (length > 0) {
+            // regular block of data to write
+            /*  Serial.print("Writing config block to bank ");
+                Serial.print(bank);
+                Serial.print(", offset ");
+                Serial.print(offset);
+                Serial.print(", length=");
+                Serial.println(length);*/
+            if (useProgMem) {
+                if (sizeof(progBuffer) < length) {
+                    progBuffer = (uint8_t*)realloc(progBuffer, length);
+                }
+                for (j = 0; j < length; j++) {
+                    progBuffer[j] = pgm_read_byte(data + i + j);
+                }
+            } else {
+                progBuffer = (uint8_t*)data + i;
+            }
+            success = writeMemoryBlock(progBuffer, length, bank, offset, true);
+            i += length;
+        } else {
+            // special instruction
+            // NOTE: this kind of behavior (what and when to do certain things)
+            // is totally undocumented. This code is in here based on observed
+            // behavior only, and exactly why (or even whether) it has to be here
+            // is anybody's guess for now.
+            if (useProgMem) {
+                special = pgm_read_byte(data + i++);
+            } else {
+                special = data[i++];
+            }
+            /*  Serial.print("Special command code ");
+                Serial.print(special, HEX);
+                Serial.println(" found...");*/
+            if (special == 0x01) {
+                // enable DMP-related interrupts
+
+                //setIntZeroMotionEnabled(true);
+                //setIntFIFOBufferOverflowEnabled(true);
+                //setIntDMPEnabled(true);
+                I2Cdev::writeByte(devAddr, MPU6050_RA_INT_ENABLE, 0x32);  // single operation
+
+                success = true;
+            } else {
+                // unknown special command
+                success = false;
+            }
+        }
+
+        if (!success) {
+            if (useProgMem) {
+                free(progBuffer);
+            }
+            return false; // uh oh
+        }
+    }
+    if (useProgMem) {
+        free(progBuffer);
+    }
+    return true;
+}
+bool MPU6050::writeProgDMPConfigurationSet(const uint8_t* data, uint16_t dataSize) {
+    return writeDMPConfigurationSet(data, dataSize, true);
+}
+
+// DMP_CFG_1 register
+
+uint8_t MPU6050::getDMPConfig1() {
+    I2Cdev::readByte(devAddr, MPU6050_RA_DMP_CFG_1, buffer);
+    return buffer[0];
+}
+void MPU6050::setDMPConfig1(uint8_t config) {
+    I2Cdev::writeByte(devAddr, MPU6050_RA_DMP_CFG_1, config);
+}
+
+// DMP_CFG_2 register
+
+uint8_t MPU6050::getDMPConfig2() {
+    I2Cdev::readByte(devAddr, MPU6050_RA_DMP_CFG_2, buffer);
+    return buffer[0];
+}
+void MPU6050::setDMPConfig2(uint8_t config) {
+    I2Cdev::writeByte(devAddr, MPU6050_RA_DMP_CFG_2, config);
+}
\ No newline at end of file
diff --git a/labyrinthe/6-jumeaux/test/manette-test/MPU6050.h b/labyrinthe/6-jumeaux/test/manette-test/MPU6050.h
new file mode 100644
index 0000000..d6f7848
--- /dev/null
+++ b/labyrinthe/6-jumeaux/test/manette-test/MPU6050.h
@@ -0,0 +1,997 @@
+// I2Cdev library collection - MPU6050 I2C device class
+// Based on InvenSense MPU-6050 register map document rev. 2.0, 5/19/2011 (RM-MPU-6000A-00)
+// 10/3/2011 by Jeff Rowberg <jeff@rowberg.net>
+// Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib
+//
+// Changelog:
+//     ... - ongoing debug release
+
+// NOTE: THIS IS ONLY A PARIAL RELEASE. THIS DEVICE CLASS IS CURRENTLY UNDERGOING ACTIVE
+// DEVELOPMENT AND IS STILL MISSING SOME IMPORTANT FEATURES. PLEASE KEEP THIS IN MIND IF
+// YOU DECIDE TO USE THIS PARTICULAR CODE FOR ANYTHING.
+
+/*  ============================================
+    I2Cdev device library code is placed under the MIT license
+    Copyright (c) 2012 Jeff Rowberg
+
+    Permission is hereby granted, free of charge, to any person obtaining a copy
+    of this software and associated documentation files (the "Software"), to deal
+    in the Software without restriction, including without limitation the rights
+    to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+    copies of the Software, and to permit persons to whom the Software is
+    furnished to do so, subject to the following conditions:
+
+    The above copyright notice and this permission notice shall be included in
+    all copies or substantial portions of the Software.
+
+    THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+    IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+    FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+    AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+    LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+    OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+    THE SOFTWARE.
+    ===============================================
+*/
+
+#ifndef _MPU6050_H_
+#define _MPU6050_H_
+
+#include "I2Cdev.h"
+#include <avr/pgmspace.h>
+
+//Magnetometer Registers
+#define MPU9150_RA_MAG_ADDRESS		0x0C
+#define MPU9150_RA_MAG_XOUT_L		0x03
+#define MPU9150_RA_MAG_XOUT_H		0x04
+#define MPU9150_RA_MAG_YOUT_L		0x05
+#define MPU9150_RA_MAG_YOUT_H		0x06
+#define MPU9150_RA_MAG_ZOUT_L		0x07
+#define MPU9150_RA_MAG_ZOUT_H		0x08
+
+#define MPU6050_ADDRESS_AD0_LOW     0x68 // address pin low (GND), default for InvenSense evaluation board
+#define MPU6050_ADDRESS_AD0_HIGH    0x69 // address pin high (VCC)
+#define MPU6050_DEFAULT_ADDRESS     MPU6050_ADDRESS_AD0_LOW
+
+#define MPU6050_RA_XG_OFFS_TC       0x00 //[7] PWR_MODE, [6:1] XG_OFFS_TC, [0] OTP_BNK_VLD
+#define MPU6050_RA_YG_OFFS_TC       0x01 //[7] PWR_MODE, [6:1] YG_OFFS_TC, [0] OTP_BNK_VLD
+#define MPU6050_RA_ZG_OFFS_TC       0x02 //[7] PWR_MODE, [6:1] ZG_OFFS_TC, [0] OTP_BNK_VLD
+#define MPU6050_RA_X_FINE_GAIN      0x03 //[7:0] X_FINE_GAIN
+#define MPU6050_RA_Y_FINE_GAIN      0x04 //[7:0] Y_FINE_GAIN
+#define MPU6050_RA_Z_FINE_GAIN      0x05 //[7:0] Z_FINE_GAIN
+#define MPU6050_RA_XA_OFFS_H        0x06 //[15:0] XA_OFFS
+#define MPU6050_RA_XA_OFFS_L_TC     0x07
+#define MPU6050_RA_YA_OFFS_H        0x08 //[15:0] YA_OFFS
+#define MPU6050_RA_YA_OFFS_L_TC     0x09
+#define MPU6050_RA_ZA_OFFS_H        0x0A //[15:0] ZA_OFFS
+#define MPU6050_RA_ZA_OFFS_L_TC     0x0B
+#define MPU6050_RA_XG_OFFS_USRH     0x13 //[15:0] XG_OFFS_USR
+#define MPU6050_RA_XG_OFFS_USRL     0x14
+#define MPU6050_RA_YG_OFFS_USRH     0x15 //[15:0] YG_OFFS_USR
+#define MPU6050_RA_YG_OFFS_USRL     0x16
+#define MPU6050_RA_ZG_OFFS_USRH     0x17 //[15:0] ZG_OFFS_USR
+#define MPU6050_RA_ZG_OFFS_USRL     0x18
+#define MPU6050_RA_SMPLRT_DIV       0x19
+#define MPU6050_RA_CONFIG           0x1A
+#define MPU6050_RA_GYRO_CONFIG      0x1B
+#define MPU6050_RA_ACCEL_CONFIG     0x1C
+#define MPU6050_RA_FF_THR           0x1D
+#define MPU6050_RA_FF_DUR           0x1E
+#define MPU6050_RA_MOT_THR          0x1F
+#define MPU6050_RA_MOT_DUR          0x20
+#define MPU6050_RA_ZRMOT_THR        0x21
+#define MPU6050_RA_ZRMOT_DUR        0x22
+#define MPU6050_RA_FIFO_EN          0x23
+#define MPU6050_RA_I2C_MST_CTRL     0x24
+#define MPU6050_RA_I2C_SLV0_ADDR    0x25
+#define MPU6050_RA_I2C_SLV0_REG     0x26
+#define MPU6050_RA_I2C_SLV0_CTRL    0x27
+#define MPU6050_RA_I2C_SLV1_ADDR    0x28
+#define MPU6050_RA_I2C_SLV1_REG     0x29
+#define MPU6050_RA_I2C_SLV1_CTRL    0x2A
+#define MPU6050_RA_I2C_SLV2_ADDR    0x2B
+#define MPU6050_RA_I2C_SLV2_REG     0x2C
+#define MPU6050_RA_I2C_SLV2_CTRL    0x2D
+#define MPU6050_RA_I2C_SLV3_ADDR    0x2E
+#define MPU6050_RA_I2C_SLV3_REG     0x2F
+#define MPU6050_RA_I2C_SLV3_CTRL    0x30
+#define MPU6050_RA_I2C_SLV4_ADDR    0x31
+#define MPU6050_RA_I2C_SLV4_REG     0x32
+#define MPU6050_RA_I2C_SLV4_DO      0x33
+#define MPU6050_RA_I2C_SLV4_CTRL    0x34
+#define MPU6050_RA_I2C_SLV4_DI      0x35
+#define MPU6050_RA_I2C_MST_STATUS   0x36
+#define MPU6050_RA_INT_PIN_CFG      0x37
+#define MPU6050_RA_INT_ENABLE       0x38
+#define MPU6050_RA_DMP_INT_STATUS   0x39
+#define MPU6050_RA_INT_STATUS       0x3A
+#define MPU6050_RA_ACCEL_XOUT_H     0x3B
+#define MPU6050_RA_ACCEL_XOUT_L     0x3C
+#define MPU6050_RA_ACCEL_YOUT_H     0x3D
+#define MPU6050_RA_ACCEL_YOUT_L     0x3E
+#define MPU6050_RA_ACCEL_ZOUT_H     0x3F
+#define MPU6050_RA_ACCEL_ZOUT_L     0x40
+#define MPU6050_RA_TEMP_OUT_H       0x41
+#define MPU6050_RA_TEMP_OUT_L       0x42
+#define MPU6050_RA_GYRO_XOUT_H      0x43
+#define MPU6050_RA_GYRO_XOUT_L      0x44
+#define MPU6050_RA_GYRO_YOUT_H      0x45
+#define MPU6050_RA_GYRO_YOUT_L      0x46
+#define MPU6050_RA_GYRO_ZOUT_H      0x47
+#define MPU6050_RA_GYRO_ZOUT_L      0x48
+#define MPU6050_RA_EXT_SENS_DATA_00 0x49
+#define MPU6050_RA_EXT_SENS_DATA_01 0x4A
+#define MPU6050_RA_EXT_SENS_DATA_02 0x4B
+#define MPU6050_RA_EXT_SENS_DATA_03 0x4C
+#define MPU6050_RA_EXT_SENS_DATA_04 0x4D
+#define MPU6050_RA_EXT_SENS_DATA_05 0x4E
+#define MPU6050_RA_EXT_SENS_DATA_06 0x4F
+#define MPU6050_RA_EXT_SENS_DATA_07 0x50
+#define MPU6050_RA_EXT_SENS_DATA_08 0x51
+#define MPU6050_RA_EXT_SENS_DATA_09 0x52
+#define MPU6050_RA_EXT_SENS_DATA_10 0x53
+#define MPU6050_RA_EXT_SENS_DATA_11 0x54
+#define MPU6050_RA_EXT_SENS_DATA_12 0x55
+#define MPU6050_RA_EXT_SENS_DATA_13 0x56
+#define MPU6050_RA_EXT_SENS_DATA_14 0x57
+#define MPU6050_RA_EXT_SENS_DATA_15 0x58
+#define MPU6050_RA_EXT_SENS_DATA_16 0x59
+#define MPU6050_RA_EXT_SENS_DATA_17 0x5A
+#define MPU6050_RA_EXT_SENS_DATA_18 0x5B
+#define MPU6050_RA_EXT_SENS_DATA_19 0x5C
+#define MPU6050_RA_EXT_SENS_DATA_20 0x5D
+#define MPU6050_RA_EXT_SENS_DATA_21 0x5E
+#define MPU6050_RA_EXT_SENS_DATA_22 0x5F
+#define MPU6050_RA_EXT_SENS_DATA_23 0x60
+#define MPU6050_RA_MOT_DETECT_STATUS    0x61
+#define MPU6050_RA_I2C_SLV0_DO      0x63
+#define MPU6050_RA_I2C_SLV1_DO      0x64
+#define MPU6050_RA_I2C_SLV2_DO      0x65
+#define MPU6050_RA_I2C_SLV3_DO      0x66
+#define MPU6050_RA_I2C_MST_DELAY_CTRL   0x67
+#define MPU6050_RA_SIGNAL_PATH_RESET    0x68
+#define MPU6050_RA_MOT_DETECT_CTRL      0x69
+#define MPU6050_RA_USER_CTRL        0x6A
+#define MPU6050_RA_PWR_MGMT_1       0x6B
+#define MPU6050_RA_PWR_MGMT_2       0x6C
+#define MPU6050_RA_BANK_SEL         0x6D
+#define MPU6050_RA_MEM_START_ADDR   0x6E
+#define MPU6050_RA_MEM_R_W          0x6F
+#define MPU6050_RA_DMP_CFG_1        0x70
+#define MPU6050_RA_DMP_CFG_2        0x71
+#define MPU6050_RA_FIFO_COUNTH      0x72
+#define MPU6050_RA_FIFO_COUNTL      0x73
+#define MPU6050_RA_FIFO_R_W         0x74
+#define MPU6050_RA_WHO_AM_I         0x75
+
+#define MPU6050_TC_PWR_MODE_BIT     7
+#define MPU6050_TC_OFFSET_BIT       6
+#define MPU6050_TC_OFFSET_LENGTH    6
+#define MPU6050_TC_OTP_BNK_VLD_BIT  0
+
+#define MPU6050_VDDIO_LEVEL_VLOGIC  0
+#define MPU6050_VDDIO_LEVEL_VDD     1
+
+#define MPU6050_CFG_EXT_SYNC_SET_BIT    5
+#define MPU6050_CFG_EXT_SYNC_SET_LENGTH 3
+#define MPU6050_CFG_DLPF_CFG_BIT    2
+#define MPU6050_CFG_DLPF_CFG_LENGTH 3
+
+#define MPU6050_EXT_SYNC_DISABLED       0x0
+#define MPU6050_EXT_SYNC_TEMP_OUT_L     0x1
+#define MPU6050_EXT_SYNC_GYRO_XOUT_L    0x2
+#define MPU6050_EXT_SYNC_GYRO_YOUT_L    0x3
+#define MPU6050_EXT_SYNC_GYRO_ZOUT_L    0x4
+#define MPU6050_EXT_SYNC_ACCEL_XOUT_L   0x5
+#define MPU6050_EXT_SYNC_ACCEL_YOUT_L   0x6
+#define MPU6050_EXT_SYNC_ACCEL_ZOUT_L   0x7
+
+#define MPU6050_DLPF_BW_256         0x00
+#define MPU6050_DLPF_BW_188         0x01
+#define MPU6050_DLPF_BW_98          0x02
+#define MPU6050_DLPF_BW_42          0x03
+#define MPU6050_DLPF_BW_20          0x04
+#define MPU6050_DLPF_BW_10          0x05
+#define MPU6050_DLPF_BW_5           0x06
+
+#define MPU6050_GCONFIG_FS_SEL_BIT      4
+#define MPU6050_GCONFIG_FS_SEL_LENGTH   2
+
+#define MPU6050_GYRO_FS_250         0x00
+#define MPU6050_GYRO_FS_500         0x01
+#define MPU6050_GYRO_FS_1000        0x02
+#define MPU6050_GYRO_FS_2000        0x03
+
+#define MPU6050_ACONFIG_XA_ST_BIT           7
+#define MPU6050_ACONFIG_YA_ST_BIT           6
+#define MPU6050_ACONFIG_ZA_ST_BIT           5
+#define MPU6050_ACONFIG_AFS_SEL_BIT         4
+#define MPU6050_ACONFIG_AFS_SEL_LENGTH      2
+#define MPU6050_ACONFIG_ACCEL_HPF_BIT       2
+#define MPU6050_ACONFIG_ACCEL_HPF_LENGTH    3
+
+#define MPU6050_ACCEL_FS_2          0x00
+#define MPU6050_ACCEL_FS_4          0x01
+#define MPU6050_ACCEL_FS_8          0x02
+#define MPU6050_ACCEL_FS_16         0x03
+
+#define MPU6050_DHPF_RESET          0x00
+#define MPU6050_DHPF_5              0x01
+#define MPU6050_DHPF_2P5            0x02
+#define MPU6050_DHPF_1P25           0x03
+#define MPU6050_DHPF_0P63           0x04
+#define MPU6050_DHPF_HOLD           0x07
+
+#define MPU6050_TEMP_FIFO_EN_BIT    7
+#define MPU6050_XG_FIFO_EN_BIT      6
+#define MPU6050_YG_FIFO_EN_BIT      5
+#define MPU6050_ZG_FIFO_EN_BIT      4
+#define MPU6050_ACCEL_FIFO_EN_BIT   3
+#define MPU6050_SLV2_FIFO_EN_BIT    2
+#define MPU6050_SLV1_FIFO_EN_BIT    1
+#define MPU6050_SLV0_FIFO_EN_BIT    0
+
+#define MPU6050_MULT_MST_EN_BIT     7
+#define MPU6050_WAIT_FOR_ES_BIT     6
+#define MPU6050_SLV_3_FIFO_EN_BIT   5
+#define MPU6050_I2C_MST_P_NSR_BIT   4
+#define MPU6050_I2C_MST_CLK_BIT     3
+#define MPU6050_I2C_MST_CLK_LENGTH  4
+
+#define MPU6050_CLOCK_DIV_348       0x0
+#define MPU6050_CLOCK_DIV_333       0x1
+#define MPU6050_CLOCK_DIV_320       0x2
+#define MPU6050_CLOCK_DIV_308       0x3
+#define MPU6050_CLOCK_DIV_296       0x4
+#define MPU6050_CLOCK_DIV_286       0x5
+#define MPU6050_CLOCK_DIV_276       0x6
+#define MPU6050_CLOCK_DIV_267       0x7
+#define MPU6050_CLOCK_DIV_258       0x8
+#define MPU6050_CLOCK_DIV_500       0x9
+#define MPU6050_CLOCK_DIV_471       0xA
+#define MPU6050_CLOCK_DIV_444       0xB
+#define MPU6050_CLOCK_DIV_421       0xC
+#define MPU6050_CLOCK_DIV_400       0xD
+#define MPU6050_CLOCK_DIV_381       0xE
+#define MPU6050_CLOCK_DIV_364       0xF
+
+#define MPU6050_I2C_SLV_RW_BIT      7
+#define MPU6050_I2C_SLV_ADDR_BIT    6
+#define MPU6050_I2C_SLV_ADDR_LENGTH 7
+#define MPU6050_I2C_SLV_EN_BIT      7
+#define MPU6050_I2C_SLV_BYTE_SW_BIT 6
+#define MPU6050_I2C_SLV_REG_DIS_BIT 5
+#define MPU6050_I2C_SLV_GRP_BIT     4
+#define MPU6050_I2C_SLV_LEN_BIT     3
+#define MPU6050_I2C_SLV_LEN_LENGTH  4
+
+#define MPU6050_I2C_SLV4_RW_BIT         7
+#define MPU6050_I2C_SLV4_ADDR_BIT       6
+#define MPU6050_I2C_SLV4_ADDR_LENGTH    7
+#define MPU6050_I2C_SLV4_EN_BIT         7
+#define MPU6050_I2C_SLV4_INT_EN_BIT     6
+#define MPU6050_I2C_SLV4_REG_DIS_BIT    5
+#define MPU6050_I2C_SLV4_MST_DLY_BIT    4
+#define MPU6050_I2C_SLV4_MST_DLY_LENGTH 5
+
+#define MPU6050_MST_PASS_THROUGH_BIT    7
+#define MPU6050_MST_I2C_SLV4_DONE_BIT   6
+#define MPU6050_MST_I2C_LOST_ARB_BIT    5
+#define MPU6050_MST_I2C_SLV4_NACK_BIT   4
+#define MPU6050_MST_I2C_SLV3_NACK_BIT   3
+#define MPU6050_MST_I2C_SLV2_NACK_BIT   2
+#define MPU6050_MST_I2C_SLV1_NACK_BIT   1
+#define MPU6050_MST_I2C_SLV0_NACK_BIT   0
+
+#define MPU6050_INTCFG_INT_LEVEL_BIT        7
+#define MPU6050_INTCFG_INT_OPEN_BIT         6
+#define MPU6050_INTCFG_LATCH_INT_EN_BIT     5
+#define MPU6050_INTCFG_INT_RD_CLEAR_BIT     4
+#define MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT  3
+#define MPU6050_INTCFG_FSYNC_INT_EN_BIT     2
+#define MPU6050_INTCFG_I2C_BYPASS_EN_BIT    1
+#define MPU6050_INTCFG_CLKOUT_EN_BIT        0
+
+#define MPU6050_INTMODE_ACTIVEHIGH  0x00
+#define MPU6050_INTMODE_ACTIVELOW   0x01
+
+#define MPU6050_INTDRV_PUSHPULL     0x00
+#define MPU6050_INTDRV_OPENDRAIN    0x01
+
+#define MPU6050_INTLATCH_50USPULSE  0x00
+#define MPU6050_INTLATCH_WAITCLEAR  0x01
+
+#define MPU6050_INTCLEAR_STATUSREAD 0x00
+#define MPU6050_INTCLEAR_ANYREAD    0x01
+
+#define MPU6050_INTERRUPT_FF_BIT            7
+#define MPU6050_INTERRUPT_MOT_BIT           6
+#define MPU6050_INTERRUPT_ZMOT_BIT          5
+#define MPU6050_INTERRUPT_FIFO_OFLOW_BIT    4
+#define MPU6050_INTERRUPT_I2C_MST_INT_BIT   3
+#define MPU6050_INTERRUPT_PLL_RDY_INT_BIT   2
+#define MPU6050_INTERRUPT_DMP_INT_BIT       1
+#define MPU6050_INTERRUPT_DATA_RDY_BIT      0
+
+// TODO: figure out what these actually do
+// UMPL source code is not very obivous
+#define MPU6050_DMPINT_5_BIT            5
+#define MPU6050_DMPINT_4_BIT            4
+#define MPU6050_DMPINT_3_BIT            3
+#define MPU6050_DMPINT_2_BIT            2
+#define MPU6050_DMPINT_1_BIT            1
+#define MPU6050_DMPINT_0_BIT            0
+
+#define MPU6050_MOTION_MOT_XNEG_BIT     7
+#define MPU6050_MOTION_MOT_XPOS_BIT     6
+#define MPU6050_MOTION_MOT_YNEG_BIT     5
+#define MPU6050_MOTION_MOT_YPOS_BIT     4
+#define MPU6050_MOTION_MOT_ZNEG_BIT     3
+#define MPU6050_MOTION_MOT_ZPOS_BIT     2
+#define MPU6050_MOTION_MOT_ZRMOT_BIT    0
+
+#define MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT   7
+#define MPU6050_DELAYCTRL_I2C_SLV4_DLY_EN_BIT   4
+#define MPU6050_DELAYCTRL_I2C_SLV3_DLY_EN_BIT   3
+#define MPU6050_DELAYCTRL_I2C_SLV2_DLY_EN_BIT   2
+#define MPU6050_DELAYCTRL_I2C_SLV1_DLY_EN_BIT   1
+#define MPU6050_DELAYCTRL_I2C_SLV0_DLY_EN_BIT   0
+
+#define MPU6050_PATHRESET_GYRO_RESET_BIT    2
+#define MPU6050_PATHRESET_ACCEL_RESET_BIT   1
+#define MPU6050_PATHRESET_TEMP_RESET_BIT    0
+
+#define MPU6050_DETECT_ACCEL_ON_DELAY_BIT       5
+#define MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH    2
+#define MPU6050_DETECT_FF_COUNT_BIT             3
+#define MPU6050_DETECT_FF_COUNT_LENGTH          2
+#define MPU6050_DETECT_MOT_COUNT_BIT            1
+#define MPU6050_DETECT_MOT_COUNT_LENGTH         2
+
+#define MPU6050_DETECT_DECREMENT_RESET  0x0
+#define MPU6050_DETECT_DECREMENT_1      0x1
+#define MPU6050_DETECT_DECREMENT_2      0x2
+#define MPU6050_DETECT_DECREMENT_4      0x3
+
+#define MPU6050_USERCTRL_DMP_EN_BIT             7
+#define MPU6050_USERCTRL_FIFO_EN_BIT            6
+#define MPU6050_USERCTRL_I2C_MST_EN_BIT         5
+#define MPU6050_USERCTRL_I2C_IF_DIS_BIT         4
+#define MPU6050_USERCTRL_DMP_RESET_BIT          3
+#define MPU6050_USERCTRL_FIFO_RESET_BIT         2
+#define MPU6050_USERCTRL_I2C_MST_RESET_BIT      1
+#define MPU6050_USERCTRL_SIG_COND_RESET_BIT     0
+
+#define MPU6050_PWR1_DEVICE_RESET_BIT   7
+#define MPU6050_PWR1_SLEEP_BIT          6
+#define MPU6050_PWR1_CYCLE_BIT          5
+#define MPU6050_PWR1_TEMP_DIS_BIT       3
+#define MPU6050_PWR1_CLKSEL_BIT         2
+#define MPU6050_PWR1_CLKSEL_LENGTH      3
+
+#define MPU6050_CLOCK_INTERNAL          0x00
+#define MPU6050_CLOCK_PLL_XGYRO         0x01
+#define MPU6050_CLOCK_PLL_YGYRO         0x02
+#define MPU6050_CLOCK_PLL_ZGYRO         0x03
+#define MPU6050_CLOCK_PLL_EXT32K        0x04
+#define MPU6050_CLOCK_PLL_EXT19M        0x05
+#define MPU6050_CLOCK_KEEP_RESET        0x07
+
+#define MPU6050_PWR2_LP_WAKE_CTRL_BIT       7
+#define MPU6050_PWR2_LP_WAKE_CTRL_LENGTH    2
+#define MPU6050_PWR2_STBY_XA_BIT            5
+#define MPU6050_PWR2_STBY_YA_BIT            4
+#define MPU6050_PWR2_STBY_ZA_BIT            3
+#define MPU6050_PWR2_STBY_XG_BIT            2
+#define MPU6050_PWR2_STBY_YG_BIT            1
+#define MPU6050_PWR2_STBY_ZG_BIT            0
+
+#define MPU6050_WAKE_FREQ_1P25      0x0
+#define MPU6050_WAKE_FREQ_2P5       0x1
+#define MPU6050_WAKE_FREQ_5         0x2
+#define MPU6050_WAKE_FREQ_10        0x3
+
+#define MPU6050_BANKSEL_PRFTCH_EN_BIT       6
+#define MPU6050_BANKSEL_CFG_USER_BANK_BIT   5
+#define MPU6050_BANKSEL_MEM_SEL_BIT         4
+#define MPU6050_BANKSEL_MEM_SEL_LENGTH      5
+
+#define MPU6050_WHO_AM_I_BIT        6
+#define MPU6050_WHO_AM_I_LENGTH     6
+
+#define MPU6050_DMP_MEMORY_BANKS        8
+#define MPU6050_DMP_MEMORY_BANK_SIZE    256
+#define MPU6050_DMP_MEMORY_CHUNK_SIZE   16
+
+// note: DMP code memory blocks defined at end of header file
+
+class MPU6050 {
+  public:
+    MPU6050();
+    MPU6050(uint8_t address);
+
+    void initialize();
+    bool testConnection();
+
+    // AUX_VDDIO register
+    uint8_t getAuxVDDIOLevel();
+    void setAuxVDDIOLevel(uint8_t level);
+
+    // SMPLRT_DIV register
+    uint8_t getRate();
+    void setRate(uint8_t rate);
+
+    // CONFIG register
+    uint8_t getExternalFrameSync();
+    void setExternalFrameSync(uint8_t sync);
+    uint8_t getDLPFMode();
+    void setDLPFMode(uint8_t bandwidth);
+
+    // GYRO_CONFIG register
+    uint8_t getFullScaleGyroRange();
+    void setFullScaleGyroRange(uint8_t range);
+
+    // ACCEL_CONFIG register
+    bool getAccelXSelfTest();
+    void setAccelXSelfTest(bool enabled);
+    bool getAccelYSelfTest();
+    void setAccelYSelfTest(bool enabled);
+    bool getAccelZSelfTest();
+    void setAccelZSelfTest(bool enabled);
+    uint8_t getFullScaleAccelRange();
+    void setFullScaleAccelRange(uint8_t range);
+    uint8_t getDHPFMode();
+    void setDHPFMode(uint8_t mode);
+
+    // FF_THR register
+    uint8_t getFreefallDetectionThreshold();
+    void setFreefallDetectionThreshold(uint8_t threshold);
+
+    // FF_DUR register
+    uint8_t getFreefallDetectionDuration();
+    void setFreefallDetectionDuration(uint8_t duration);
+
+    // MOT_THR register
+    uint8_t getMotionDetectionThreshold();
+    void setMotionDetectionThreshold(uint8_t threshold);
+
+    // MOT_DUR register
+    uint8_t getMotionDetectionDuration();
+    void setMotionDetectionDuration(uint8_t duration);
+
+    // ZRMOT_THR register
+    uint8_t getZeroMotionDetectionThreshold();
+    void setZeroMotionDetectionThreshold(uint8_t threshold);
+
+    // ZRMOT_DUR register
+    uint8_t getZeroMotionDetectionDuration();
+    void setZeroMotionDetectionDuration(uint8_t duration);
+
+    // FIFO_EN register
+    bool getTempFIFOEnabled();
+    void setTempFIFOEnabled(bool enabled);
+    bool getXGyroFIFOEnabled();
+    void setXGyroFIFOEnabled(bool enabled);
+    bool getYGyroFIFOEnabled();
+    void setYGyroFIFOEnabled(bool enabled);
+    bool getZGyroFIFOEnabled();
+    void setZGyroFIFOEnabled(bool enabled);
+    bool getAccelFIFOEnabled();
+    void setAccelFIFOEnabled(bool enabled);
+    bool getSlave2FIFOEnabled();
+    void setSlave2FIFOEnabled(bool enabled);
+    bool getSlave1FIFOEnabled();
+    void setSlave1FIFOEnabled(bool enabled);
+    bool getSlave0FIFOEnabled();
+    void setSlave0FIFOEnabled(bool enabled);
+
+    // I2C_MST_CTRL register
+    bool getMultiMasterEnabled();
+    void setMultiMasterEnabled(bool enabled);
+    bool getWaitForExternalSensorEnabled();
+    void setWaitForExternalSensorEnabled(bool enabled);
+    bool getSlave3FIFOEnabled();
+    void setSlave3FIFOEnabled(bool enabled);
+    bool getSlaveReadWriteTransitionEnabled();
+    void setSlaveReadWriteTransitionEnabled(bool enabled);
+    uint8_t getMasterClockSpeed();
+    void setMasterClockSpeed(uint8_t speed);
+
+    // I2C_SLV* registers (Slave 0-3)
+    uint8_t getSlaveAddress(uint8_t num);
+    void setSlaveAddress(uint8_t num, uint8_t address);
+    uint8_t getSlaveRegister(uint8_t num);
+    void setSlaveRegister(uint8_t num, uint8_t reg);
+    bool getSlaveEnabled(uint8_t num);
+    void setSlaveEnabled(uint8_t num, bool enabled);
+    bool getSlaveWordByteSwap(uint8_t num);
+    void setSlaveWordByteSwap(uint8_t num, bool enabled);
+    bool getSlaveWriteMode(uint8_t num);
+    void setSlaveWriteMode(uint8_t num, bool mode);
+    bool getSlaveWordGroupOffset(uint8_t num);
+    void setSlaveWordGroupOffset(uint8_t num, bool enabled);
+    uint8_t getSlaveDataLength(uint8_t num);
+    void setSlaveDataLength(uint8_t num, uint8_t length);
+
+    // I2C_SLV* registers (Slave 4)
+    uint8_t getSlave4Address();
+    void setSlave4Address(uint8_t address);
+    uint8_t getSlave4Register();
+    void setSlave4Register(uint8_t reg);
+    void setSlave4OutputByte(uint8_t data);
+    bool getSlave4Enabled();
+    void setSlave4Enabled(bool enabled);
+    bool getSlave4InterruptEnabled();
+    void setSlave4InterruptEnabled(bool enabled);
+    bool getSlave4WriteMode();
+    void setSlave4WriteMode(bool mode);
+    uint8_t getSlave4MasterDelay();
+    void setSlave4MasterDelay(uint8_t delay);
+    uint8_t getSlate4InputByte();
+
+    // I2C_MST_STATUS register
+    bool getPassthroughStatus();
+    bool getSlave4IsDone();
+    bool getLostArbitration();
+    bool getSlave4Nack();
+    bool getSlave3Nack();
+    bool getSlave2Nack();
+    bool getSlave1Nack();
+    bool getSlave0Nack();
+
+    // INT_PIN_CFG register
+    bool getInterruptMode();
+    void setInterruptMode(bool mode);
+    bool getInterruptDrive();
+    void setInterruptDrive(bool drive);
+    bool getInterruptLatch();
+    void setInterruptLatch(bool latch);
+    bool getInterruptLatchClear();
+    void setInterruptLatchClear(bool clear);
+    bool getFSyncInterruptLevel();
+    void setFSyncInterruptLevel(bool level);
+    bool getFSyncInterruptEnabled();
+    void setFSyncInterruptEnabled(bool enabled);
+    bool getI2CBypassEnabled();
+    void setI2CBypassEnabled(bool enabled);
+    bool getClockOutputEnabled();
+    void setClockOutputEnabled(bool enabled);
+
+    // INT_ENABLE register
+    uint8_t getIntEnabled();
+    void setIntEnabled(uint8_t enabled);
+    bool getIntFreefallEnabled();
+    void setIntFreefallEnabled(bool enabled);
+    bool getIntMotionEnabled();
+    void setIntMotionEnabled(bool enabled);
+    bool getIntZeroMotionEnabled();
+    void setIntZeroMotionEnabled(bool enabled);
+    bool getIntFIFOBufferOverflowEnabled();
+    void setIntFIFOBufferOverflowEnabled(bool enabled);
+    bool getIntI2CMasterEnabled();
+    void setIntI2CMasterEnabled(bool enabled);
+    bool getIntDataReadyEnabled();
+    void setIntDataReadyEnabled(bool enabled);
+
+    // INT_STATUS register
+    uint8_t getIntStatus();
+    bool getIntFreefallStatus();
+    bool getIntMotionStatus();
+    bool getIntZeroMotionStatus();
+    bool getIntFIFOBufferOverflowStatus();
+    bool getIntI2CMasterStatus();
+    bool getIntDataReadyStatus();
+
+    // ACCEL_*OUT_* registers
+    void getMotion9(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int16_t* gy, int16_t* gz, int16_t* mx, int16_t* my,
+                    int16_t* mz);
+    void getMotion6(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int16_t* gy, int16_t* gz);
+    void getAcceleration(int16_t* x, int16_t* y, int16_t* z);
+    int16_t getAccelerationX();
+    int16_t getAccelerationY();
+    int16_t getAccelerationZ();
+
+    // TEMP_OUT_* registers
+    int16_t getTemperature();
+
+    // GYRO_*OUT_* registers
+    void getRotation(int16_t* x, int16_t* y, int16_t* z);
+    int16_t getRotationX();
+    int16_t getRotationY();
+    int16_t getRotationZ();
+
+    // EXT_SENS_DATA_* registers
+    uint8_t getExternalSensorByte(int position);
+    uint16_t getExternalSensorWord(int position);
+    uint32_t getExternalSensorDWord(int position);
+
+    // MOT_DETECT_STATUS register
+    bool getXNegMotionDetected();
+    bool getXPosMotionDetected();
+    bool getYNegMotionDetected();
+    bool getYPosMotionDetected();
+    bool getZNegMotionDetected();
+    bool getZPosMotionDetected();
+    bool getZeroMotionDetected();
+
+    // I2C_SLV*_DO register
+    void setSlaveOutputByte(uint8_t num, uint8_t data);
+
+    // I2C_MST_DELAY_CTRL register
+    bool getExternalShadowDelayEnabled();
+    void setExternalShadowDelayEnabled(bool enabled);
+    bool getSlaveDelayEnabled(uint8_t num);
+    void setSlaveDelayEnabled(uint8_t num, bool enabled);
+
+    // SIGNAL_PATH_RESET register
+    void resetGyroscopePath();
+    void resetAccelerometerPath();
+    void resetTemperaturePath();
+
+    // MOT_DETECT_CTRL register
+    uint8_t getAccelerometerPowerOnDelay();
+    void setAccelerometerPowerOnDelay(uint8_t delay);
+    uint8_t getFreefallDetectionCounterDecrement();
+    void setFreefallDetectionCounterDecrement(uint8_t decrement);
+    uint8_t getMotionDetectionCounterDecrement();
+    void setMotionDetectionCounterDecrement(uint8_t decrement);
+
+    // USER_CTRL register
+    bool getFIFOEnabled();
+    void setFIFOEnabled(bool enabled);
+    bool getI2CMasterModeEnabled();
+    void setI2CMasterModeEnabled(bool enabled);
+    void switchSPIEnabled(bool enabled);
+    void resetFIFO();
+    void resetI2CMaster();
+    void resetSensors();
+
+    // PWR_MGMT_1 register
+    void reset();
+    bool getSleepEnabled();
+    void setSleepEnabled(bool enabled);
+    bool getWakeCycleEnabled();
+    void setWakeCycleEnabled(bool enabled);
+    bool getTempSensorEnabled();
+    void setTempSensorEnabled(bool enabled);
+    uint8_t getClockSource();
+    void setClockSource(uint8_t source);
+
+    // PWR_MGMT_2 register
+    uint8_t getWakeFrequency();
+    void setWakeFrequency(uint8_t frequency);
+    bool getStandbyXAccelEnabled();
+    void setStandbyXAccelEnabled(bool enabled);
+    bool getStandbyYAccelEnabled();
+    void setStandbyYAccelEnabled(bool enabled);
+    bool getStandbyZAccelEnabled();
+    void setStandbyZAccelEnabled(bool enabled);
+    bool getStandbyXGyroEnabled();
+    void setStandbyXGyroEnabled(bool enabled);
+    bool getStandbyYGyroEnabled();
+    void setStandbyYGyroEnabled(bool enabled);
+    bool getStandbyZGyroEnabled();
+    void setStandbyZGyroEnabled(bool enabled);
+
+    // FIFO_COUNT_* registers
+    uint16_t getFIFOCount();
+
+    // FIFO_R_W register
+    uint8_t getFIFOByte();
+    void setFIFOByte(uint8_t data);
+    void getFIFOBytes(uint8_t* data, uint8_t length);
+
+    // WHO_AM_I register
+    uint8_t getDeviceID();
+    void setDeviceID(uint8_t id);
+
+    // ======== UNDOCUMENTED/DMP REGISTERS/METHODS ========
+
+    // XG_OFFS_TC register
+    uint8_t getOTPBankValid();
+    void setOTPBankValid(bool enabled);
+    int8_t getXGyroOffset();
+    void setXGyroOffset(int8_t offset);
+
+    // YG_OFFS_TC register
+    int8_t getYGyroOffset();
+    void setYGyroOffset(int8_t offset);
+
+    // ZG_OFFS_TC register
+    int8_t getZGyroOffset();
+    void setZGyroOffset(int8_t offset);
+
+    // X_FINE_GAIN register
+    int8_t getXFineGain();
+    void setXFineGain(int8_t gain);
+
+    // Y_FINE_GAIN register
+    int8_t getYFineGain();
+    void setYFineGain(int8_t gain);
+
+    // Z_FINE_GAIN register
+    int8_t getZFineGain();
+    void setZFineGain(int8_t gain);
+
+    // XA_OFFS_* registers
+    int16_t getXAccelOffset();
+    void setXAccelOffset(int16_t offset);
+
+    // YA_OFFS_* register
+    int16_t getYAccelOffset();
+    void setYAccelOffset(int16_t offset);
+
+    // ZA_OFFS_* register
+    int16_t getZAccelOffset();
+    void setZAccelOffset(int16_t offset);
+
+    // XG_OFFS_USR* registers
+    int16_t getXGyroOffsetUser();
+    void setXGyroOffsetUser(int16_t offset);
+
+    // YG_OFFS_USR* register
+    int16_t getYGyroOffsetUser();
+    void setYGyroOffsetUser(int16_t offset);
+
+    // ZG_OFFS_USR* register
+    int16_t getZGyroOffsetUser();
+    void setZGyroOffsetUser(int16_t offset);
+
+    // INT_ENABLE register (DMP functions)
+    bool getIntPLLReadyEnabled();
+    void setIntPLLReadyEnabled(bool enabled);
+    bool getIntDMPEnabled();
+    void setIntDMPEnabled(bool enabled);
+
+    // DMP_INT_STATUS
+    bool getDMPInt5Status();
+    bool getDMPInt4Status();
+    bool getDMPInt3Status();
+    bool getDMPInt2Status();
+    bool getDMPInt1Status();
+    bool getDMPInt0Status();
+
+    // INT_STATUS register (DMP functions)
+    bool getIntPLLReadyStatus();
+    bool getIntDMPStatus();
+
+    // USER_CTRL register (DMP functions)
+    bool getDMPEnabled();
+    void setDMPEnabled(bool enabled);
+    void resetDMP();
+
+    // BANK_SEL register
+    void setMemoryBank(uint8_t bank, bool prefetchEnabled = false, bool userBank = false);
+
+    // MEM_START_ADDR register
+    void setMemoryStartAddress(uint8_t address);
+
+    // MEM_R_W register
+    uint8_t readMemoryByte();
+    void writeMemoryByte(uint8_t data);
+    void readMemoryBlock(uint8_t* data, uint16_t dataSize, uint8_t bank = 0, uint8_t address = 0);
+    bool writeMemoryBlock(const uint8_t* data, uint16_t dataSize, uint8_t bank = 0, uint8_t address = 0, bool verify = true,
+                          bool useProgMem = false);
+    bool writeProgMemoryBlock(const uint8_t* data, uint16_t dataSize, uint8_t bank = 0, uint8_t address = 0,
+                              bool verify = true);
+
+    bool writeDMPConfigurationSet(const uint8_t* data, uint16_t dataSize, bool useProgMem = false);
+    bool writeProgDMPConfigurationSet(const uint8_t* data, uint16_t dataSize);
+
+    // DMP_CFG_1 register
+    uint8_t getDMPConfig1();
+    void setDMPConfig1(uint8_t config);
+
+    // DMP_CFG_2 register
+    uint8_t getDMPConfig2();
+    void setDMPConfig2(uint8_t config);
+
+    // special methods for MotionApps 2.0 implementation
+    #ifdef MPU6050_INCLUDE_DMP_MOTIONAPPS20
+    uint8_t* dmpPacketBuffer;
+    uint16_t dmpPacketSize;
+
+    uint8_t dmpInitialize();
+    bool dmpPacketAvailable();
+
+    uint8_t dmpSetFIFORate(uint8_t fifoRate);
+    uint8_t dmpGetFIFORate();
+    uint8_t dmpGetSampleStepSizeMS();
+    uint8_t dmpGetSampleFrequency();
+    int32_t dmpDecodeTemperature(int8_t tempReg);
+
+    // Register callbacks after a packet of FIFO data is processed
+    //uint8_t dmpRegisterFIFORateProcess(inv_obj_func func, int16_t priority);
+    //uint8_t dmpUnregisterFIFORateProcess(inv_obj_func func);
+    uint8_t dmpRunFIFORateProcesses();
+
+    // Setup FIFO for various output
+    uint8_t dmpSendQuaternion(uint_fast16_t accuracy);
+    uint8_t dmpSendGyro(uint_fast16_t elements, uint_fast16_t accuracy);
+    uint8_t dmpSendAccel(uint_fast16_t elements, uint_fast16_t accuracy);
+    uint8_t dmpSendLinearAccel(uint_fast16_t elements, uint_fast16_t accuracy);
+    uint8_t dmpSendLinearAccelInWorld(uint_fast16_t elements, uint_fast16_t accuracy);
+    uint8_t dmpSendControlData(uint_fast16_t elements, uint_fast16_t accuracy);
+    uint8_t dmpSendSensorData(uint_fast16_t elements, uint_fast16_t accuracy);
+    uint8_t dmpSendExternalSensorData(uint_fast16_t elements, uint_fast16_t accuracy);
+    uint8_t dmpSendGravity(uint_fast16_t elements, uint_fast16_t accuracy);
+    uint8_t dmpSendPacketNumber(uint_fast16_t accuracy);
+    uint8_t dmpSendQuantizedAccel(uint_fast16_t elements, uint_fast16_t accuracy);
+    uint8_t dmpSendEIS(uint_fast16_t elements, uint_fast16_t accuracy);
+
+    // Get Fixed Point data from FIFO
+    uint8_t dmpGetAccel(int32_t* data, const uint8_t* packet = 0);
+    uint8_t dmpGetAccel(int16_t* data, const uint8_t* packet = 0);
+    uint8_t dmpGetAccel(VectorInt16* v, const uint8_t* packet = 0);
+    uint8_t dmpGetQuaternion(int32_t* data, const uint8_t* packet = 0);
+    uint8_t dmpGetQuaternion(int16_t* data, const uint8_t* packet = 0);
+    uint8_t dmpGetQuaternion(Quaternion* q, const uint8_t* packet = 0);
+    uint8_t dmpGet6AxisQuaternion(int32_t* data, const uint8_t* packet = 0);
+    uint8_t dmpGet6AxisQuaternion(int16_t* data, const uint8_t* packet = 0);
+    uint8_t dmpGet6AxisQuaternion(Quaternion* q, const uint8_t* packet = 0);
+    uint8_t dmpGetRelativeQuaternion(int32_t* data, const uint8_t* packet = 0);
+    uint8_t dmpGetRelativeQuaternion(int16_t* data, const uint8_t* packet = 0);
+    uint8_t dmpGetRelativeQuaternion(Quaternion* data, const uint8_t* packet = 0);
+    uint8_t dmpGetGyro(int32_t* data, const uint8_t* packet = 0);
+    uint8_t dmpGetGyro(int16_t* data, const uint8_t* packet = 0);
+    uint8_t dmpGetGyro(VectorInt16* v, const uint8_t* packet = 0);
+    uint8_t dmpSetLinearAccelFilterCoefficient(float coef);
+    uint8_t dmpGetLinearAccel(int32_t* data, const uint8_t* packet = 0);
+    uint8_t dmpGetLinearAccel(int16_t* data, const uint8_t* packet = 0);
+    uint8_t dmpGetLinearAccel(VectorInt16* v, const uint8_t* packet = 0);
+    uint8_t dmpGetLinearAccel(VectorInt16* v, VectorInt16* vRaw, VectorFloat* gravity);
+    uint8_t dmpGetLinearAccelInWorld(int32_t* data, const uint8_t* packet = 0);
+    uint8_t dmpGetLinearAccelInWorld(int16_t* data, const uint8_t* packet = 0);
+    uint8_t dmpGetLinearAccelInWorld(VectorInt16* v, const uint8_t* packet = 0);
+    uint8_t dmpGetLinearAccelInWorld(VectorInt16* v, VectorInt16* vReal, Quaternion* q);
+    uint8_t dmpGetGyroAndAccelSensor(int32_t* data, const uint8_t* packet = 0);
+    uint8_t dmpGetGyroAndAccelSensor(int16_t* data, const uint8_t* packet = 0);
+    uint8_t dmpGetGyroAndAccelSensor(VectorInt16* g, VectorInt16* a, const uint8_t* packet = 0);
+    uint8_t dmpGetGyroSensor(int32_t* data, const uint8_t* packet = 0);
+    uint8_t dmpGetGyroSensor(int16_t* data, const uint8_t* packet = 0);
+    uint8_t dmpGetGyroSensor(VectorInt16* v, const uint8_t* packet = 0);
+    uint8_t dmpGetControlData(int32_t* data, const uint8_t* packet = 0);
+    uint8_t dmpGetTemperature(int32_t* data, const uint8_t* packet = 0);
+    uint8_t dmpGetGravity(int32_t* data, const uint8_t* packet = 0);
+    uint8_t dmpGetGravity(int16_t* data, const uint8_t* packet = 0);
+    uint8_t dmpGetGravity(VectorInt16* v, const uint8_t* packet = 0);
+    uint8_t dmpGetGravity(VectorFloat* v, Quaternion* q);
+    uint8_t dmpGetUnquantizedAccel(int32_t* data, const uint8_t* packet = 0);
+    uint8_t dmpGetUnquantizedAccel(int16_t* data, const uint8_t* packet = 0);
+    uint8_t dmpGetUnquantizedAccel(VectorInt16* v, const uint8_t* packet = 0);
+    uint8_t dmpGetQuantizedAccel(int32_t* data, const uint8_t* packet = 0);
+    uint8_t dmpGetQuantizedAccel(int16_t* data, const uint8_t* packet = 0);
+    uint8_t dmpGetQuantizedAccel(VectorInt16* v, const uint8_t* packet = 0);
+    uint8_t dmpGetExternalSensorData(int32_t* data, uint16_t size, const uint8_t* packet = 0);
+    uint8_t dmpGetEIS(int32_t* data, const uint8_t* packet = 0);
+
+    uint8_t dmpGetEuler(float* data, Quaternion* q);
+    uint8_t dmpGetYawPitchRoll(float* data, Quaternion* q, VectorFloat* gravity);
+
+    // Get Floating Point data from FIFO
+    uint8_t dmpGetAccelFloat(float* data, const uint8_t* packet = 0);
+    uint8_t dmpGetQuaternionFloat(float* data, const uint8_t* packet = 0);
+
+    uint8_t dmpProcessFIFOPacket(const unsigned char* dmpData);
+    uint8_t dmpReadAndProcessFIFOPacket(uint8_t numPackets, uint8_t* processed = NULL);
+
+    uint8_t dmpSetFIFOProcessedCallback(void (*func)(void));
+
+    uint8_t dmpInitFIFOParam();
+    uint8_t dmpCloseFIFO();
+    uint8_t dmpSetGyroDataSource(uint8_t source);
+    uint8_t dmpDecodeQuantizedAccel();
+    uint32_t dmpGetGyroSumOfSquare();
+    uint32_t dmpGetAccelSumOfSquare();
+    void dmpOverrideQuaternion(long* q);
+    uint16_t dmpGetFIFOPacketSize();
+    #endif
+
+    // special methods for MotionApps 4.1 implementation
+    #ifdef MPU6050_INCLUDE_DMP_MOTIONAPPS41
+    uint8_t* dmpPacketBuffer;
+    uint16_t dmpPacketSize;
+
+    uint8_t dmpInitialize();
+    bool dmpPacketAvailable();
+
+    uint8_t dmpSetFIFORate(uint8_t fifoRate);
+    uint8_t dmpGetFIFORate();
+    uint8_t dmpGetSampleStepSizeMS();
+    uint8_t dmpGetSampleFrequency();
+    int32_t dmpDecodeTemperature(int8_t tempReg);
+
+    // Register callbacks after a packet of FIFO data is processed
+    //uint8_t dmpRegisterFIFORateProcess(inv_obj_func func, int16_t priority);
+    //uint8_t dmpUnregisterFIFORateProcess(inv_obj_func func);
+    uint8_t dmpRunFIFORateProcesses();
+
+    // Setup FIFO for various output
+    uint8_t dmpSendQuaternion(uint_fast16_t accuracy);
+    uint8_t dmpSendGyro(uint_fast16_t elements, uint_fast16_t accuracy);
+    uint8_t dmpSendAccel(uint_fast16_t elements, uint_fast16_t accuracy);
+    uint8_t dmpSendLinearAccel(uint_fast16_t elements, uint_fast16_t accuracy);
+    uint8_t dmpSendLinearAccelInWorld(uint_fast16_t elements, uint_fast16_t accuracy);
+    uint8_t dmpSendControlData(uint_fast16_t elements, uint_fast16_t accuracy);
+    uint8_t dmpSendSensorData(uint_fast16_t elements, uint_fast16_t accuracy);
+    uint8_t dmpSendExternalSensorData(uint_fast16_t elements, uint_fast16_t accuracy);
+    uint8_t dmpSendGravity(uint_fast16_t elements, uint_fast16_t accuracy);
+    uint8_t dmpSendPacketNumber(uint_fast16_t accuracy);
+    uint8_t dmpSendQuantizedAccel(uint_fast16_t elements, uint_fast16_t accuracy);
+    uint8_t dmpSendEIS(uint_fast16_t elements, uint_fast16_t accuracy);
+
+    // Get Fixed Point data from FIFO
+    uint8_t dmpGetAccel(int32_t* data, const uint8_t* packet = 0);
+    uint8_t dmpGetAccel(int16_t* data, const uint8_t* packet = 0);
+    uint8_t dmpGetAccel(VectorInt16* v, const uint8_t* packet = 0);
+    uint8_t dmpGetQuaternion(int32_t* data, const uint8_t* packet = 0);
+    uint8_t dmpGetQuaternion(int16_t* data, const uint8_t* packet = 0);
+    uint8_t dmpGetQuaternion(Quaternion* q, const uint8_t* packet = 0);
+    uint8_t dmpGet6AxisQuaternion(int32_t* data, const uint8_t* packet = 0);
+    uint8_t dmpGet6AxisQuaternion(int16_t* data, const uint8_t* packet = 0);
+    uint8_t dmpGet6AxisQuaternion(Quaternion* q, const uint8_t* packet = 0);
+    uint8_t dmpGetRelativeQuaternion(int32_t* data, const uint8_t* packet = 0);
+    uint8_t dmpGetRelativeQuaternion(int16_t* data, const uint8_t* packet = 0);
+    uint8_t dmpGetRelativeQuaternion(Quaternion* data, const uint8_t* packet = 0);
+    uint8_t dmpGetGyro(int32_t* data, const uint8_t* packet = 0);
+    uint8_t dmpGetGyro(int16_t* data, const uint8_t* packet = 0);
+    uint8_t dmpGetGyro(VectorInt16* v, const uint8_t* packet = 0);
+    uint8_t dmpGetMag(int16_t* data, const uint8_t* packet = 0);
+    uint8_t dmpSetLinearAccelFilterCoefficient(float coef);
+    uint8_t dmpGetLinearAccel(int32_t* data, const uint8_t* packet = 0);
+    uint8_t dmpGetLinearAccel(int16_t* data, const uint8_t* packet = 0);
+    uint8_t dmpGetLinearAccel(VectorInt16* v, const uint8_t* packet = 0);
+    uint8_t dmpGetLinearAccel(VectorInt16* v, VectorInt16* vRaw, VectorFloat* gravity);
+    uint8_t dmpGetLinearAccelInWorld(int32_t* data, const uint8_t* packet = 0);
+    uint8_t dmpGetLinearAccelInWorld(int16_t* data, const uint8_t* packet = 0);
+    uint8_t dmpGetLinearAccelInWorld(VectorInt16* v, const uint8_t* packet = 0);
+    uint8_t dmpGetLinearAccelInWorld(VectorInt16* v, VectorInt16* vReal, Quaternion* q);
+    uint8_t dmpGetGyroAndAccelSensor(int32_t* data, const uint8_t* packet = 0);
+    uint8_t dmpGetGyroAndAccelSensor(int16_t* data, const uint8_t* packet = 0);
+    uint8_t dmpGetGyroAndAccelSensor(VectorInt16* g, VectorInt16* a, const uint8_t* packet = 0);
+    uint8_t dmpGetGyroSensor(int32_t* data, const uint8_t* packet = 0);
+    uint8_t dmpGetGyroSensor(int16_t* data, const uint8_t* packet = 0);
+    uint8_t dmpGetGyroSensor(VectorInt16* v, const uint8_t* packet = 0);
+    uint8_t dmpGetControlData(int32_t* data, const uint8_t* packet = 0);
+    uint8_t dmpGetTemperature(int32_t* data, const uint8_t* packet = 0);
+    uint8_t dmpGetGravity(int32_t* data, const uint8_t* packet = 0);
+    uint8_t dmpGetGravity(int16_t* data, const uint8_t* packet = 0);
+    uint8_t dmpGetGravity(VectorInt16* v, const uint8_t* packet = 0);
+    uint8_t dmpGetGravity(VectorFloat* v, Quaternion* q);
+    uint8_t dmpGetUnquantizedAccel(int32_t* data, const uint8_t* packet = 0);
+    uint8_t dmpGetUnquantizedAccel(int16_t* data, const uint8_t* packet = 0);
+    uint8_t dmpGetUnquantizedAccel(VectorInt16* v, const uint8_t* packet = 0);
+    uint8_t dmpGetQuantizedAccel(int32_t* data, const uint8_t* packet = 0);
+    uint8_t dmpGetQuantizedAccel(int16_t* data, const uint8_t* packet = 0);
+    uint8_t dmpGetQuantizedAccel(VectorInt16* v, const uint8_t* packet = 0);
+    uint8_t dmpGetExternalSensorData(int32_t* data, uint16_t size, const uint8_t* packet = 0);
+    uint8_t dmpGetEIS(int32_t* data, const uint8_t* packet = 0);
+
+    uint8_t dmpGetEuler(float* data, Quaternion* q);
+    uint8_t dmpGetYawPitchRoll(float* data, Quaternion* q, VectorFloat* gravity);
+
+    // Get Floating Point data from FIFO
+    uint8_t dmpGetAccelFloat(float* data, const uint8_t* packet = 0);
+    uint8_t dmpGetQuaternionFloat(float* data, const uint8_t* packet = 0);
+
+    uint8_t dmpProcessFIFOPacket(const unsigned char* dmpData);
+    uint8_t dmpReadAndProcessFIFOPacket(uint8_t numPackets, uint8_t* processed = NULL);
+
+    uint8_t dmpSetFIFOProcessedCallback(void (*func)(void));
+
+    uint8_t dmpInitFIFOParam();
+    uint8_t dmpCloseFIFO();
+    uint8_t dmpSetGyroDataSource(uint8_t source);
+    uint8_t dmpDecodeQuantizedAccel();
+    uint32_t dmpGetGyroSumOfSquare();
+    uint32_t dmpGetAccelSumOfSquare();
+    void dmpOverrideQuaternion(long* q);
+    uint16_t dmpGetFIFOPacketSize();
+    #endif
+
+  private:
+    uint8_t devAddr;
+    uint8_t buffer[14];
+};
+
+#endif /* _MPU6050_H_ */
diff --git a/labyrinthe/6-jumeaux/test/manette-test/manette-test.ino b/labyrinthe/6-jumeaux/test/manette-test/manette-test.ino
index c8b411e..c794751 100644
--- a/labyrinthe/6-jumeaux/test/manette-test/manette-test.ino
+++ b/labyrinthe/6-jumeaux/test/manette-test/manette-test.ino
@@ -1,4 +1,4 @@
-#include "servo.h"
+#include "Servo.h"
 #include "Wire.h"
 #include "MPU6050.h"
 
@@ -13,7 +13,40 @@
  ******************************************************************************/
 
 /******************************************************************************
- * IMU - I2C
+ * Précautions : 
+ * - Régler l'alimentation à 6V DC - 3 A maxi
+ * - Brochage pupitre : joystick -> A0, bouton -> D2, voyant -> D3
+ * - Brochage capteur : IMU en I2C
+ * - Brochage actionneurs : axes (x,y) -> D5/D6 (x,y)
+ * - Mettre les servomoteurs à 45° soit 1000 µs
+ ******************************************************************************/
+
+/****************************************************************************** 
+* Servomoteurs
+* Alimentation par servoteur : 6V DC à 1.5 A
+******************************************************************************/
+
+Servo servo_x; // Servomoteur axe x
+Servo servo_y; // Servomoteur axe y
+const int servo_x_pin =  5; // Servomoteur axe x sur broche D5
+const int servo_y_pin =  6; // Servomoteur axe y sur broche D6
+int angle_x_ms; // Angle en µs : 500 -> 0° ; 1500->90° et 2500-> 180°
+int angle_y_ms; // Angle en µs : 500 -> 0° ; 1500->90° et 2500-> 180°
+const int servo_resolution = 6; // Angle en µs pleine puissance
+int servo_pas = 0; // Angle proportionelle en µs du pas en cours
+    
+/****************************************************************************** 
+* Pupitre : joystick + 1 bouton + 1 voyant
+******************************************************************************/
+
+const int bt_pin =  2; // Bouton sur broche D2
+const int led_pin =  3; // Led sur broche D3
+const int jstk_x_pin =  A1; // Joystick axe x sur broche A1
+const int jstk_y_pin =  A0; // Joystick axe y sur broche A0
+bool mode_auto_horizontal = false; // Flag du mode de la mise à l'auto-horizontalité 
+
+/******************************************************************************
+ * Capteur IMU - I2C
  ******************************************************************************/
 
 MPU6050 accelgyro;
@@ -39,10 +72,24 @@ void setup() {
   // Liaison série
   Serial.begin(115200); 
 
+  // Servomoteurs
+  servo_x.attach(servo_x_pin); // Brochage
+  servo_y.attach(servo_y_pin); // Brochage
+  angle_x_ms = 1000; // 500 -> 0°, 1500 -> 90° et 2500-> 180°
+  angle_y_ms = 1000; // 500 -> 0°, 1500 -> 90° et 2500-> 180°
+  servo_x.writeMicroseconds(angle_x_ms); // 1000 -> 45°
+  servo_y.writeMicroseconds(angle_y_ms); // 1000 -> 45°
+
+    // Pupitre
+  pinMode(bt_pin, INPUT);
+  pinMode(jstk_x_pin, INPUT);
+  pinMode(jstk_y_pin, INPUT);
+  pinMode(led_pin, OUTPUT);
+  
   // IMU
   Wire.begin();
   accelgyro.initialize();
-
+ 
  }
 
 /******************************************************************************
@@ -67,12 +114,112 @@ void loop() {
     pitch_txt = String(pitch_deg);
     
     /*****
-     * Console
+     * Affiche les angles de roulie et de tangage
      *****/
 
-    Serial.print(roll_txt);
-    Serial.print(",");
-    Serial.print(pitch_txt);
-    Serial.println();
+    /* Serial.print(roll_txt); */
+    /* Serial.print(","); */
+    /* Serial.print(pitch_txt); */
+    /* Serial.println(); */
+
+    /*****
+     * Mouvement manuel : Axe x 
+     *****/
+
+    // en C : sur x de 237 à 784 (centre à 510) et sur y de 249 à 773 (centre à 511) -> ok 
+    // en Python de 0,25 à 0,75 avec une zone morte entre 0,48 et 0,52 (soit 491 et 532 pour une base sur 1024)
+
+    if ((analogRead(jstk_x_pin) <491)  or (analogRead(jstk_x_pin) >532))
+    {
+	Serial.print("jstk_x : ");
+	Serial.print(String(analogRead(jstk_x_pin)));
+	Serial.println();
+
+	// Désactivation de l'horizontalité automatique
+	if (mode_auto_horizontal) 
+	{
+	    mode_auto_horizontal = false;
+	    digitalWrite(led_pin, LOW);
+	}
+
+	// Mouvement x -
+	if (analogRead(jstk_x_pin) <491)
+	    // FIXME : faire la commande proportionelle
+	    /* servo_pas = round((servo_resolution/(511-249))*(511-analogRead(jstk_x_pin))); */
+	    /* angle_x_ms=angle_x_ms-servo_pas; */
+	    angle_x_ms=angle_x_ms-servo_resolution;
+	if (angle_x_ms<600)
+	    angle_x_ms=600;
+
+	// Mouvement x +
+	if (analogRead(jstk_x_pin) >532)
+	    // FIXME : faire la commande proportionelle
+	    /* servo_pas = round((servo_resolution/(773-511))*(analogRead(jstk_x_pin)-511)); */
+	    /* angle_x_ms=angle_x_ms+servo_pas; */
+	    angle_x_ms=angle_x_ms+servo_resolution;
+	if (angle_x_ms>1600)
+	    angle_x_ms=1600;
+	
+	servo_x.writeMicroseconds(angle_x_ms);
+	Serial.print("angle_x_ms : ");
+	Serial.print(String(angle_x_ms));
+	Serial.print(" µs -> ");
+	Serial.print(String(servo_x.read()));
+	Serial.print("° ; servo_pas : ");
+	Serial.print(String(servo_pas));
+	Serial.println(" µs");
+    }
+    
+    /*****
+     * Mouvement manuel : Axe y
+     *****/
+
+    // en C : sur x de 249 à 773 (centre à 511) et sur y de 237 à 784 (centre à 510) -> ok 
+    // en Python de 0,25 à 0,75 avec une zone morte entre 0,48 et 0,52 (soit 491 et 532 pour une base sur 1024)
+
+    if ((analogRead(jstk_y_pin) <491)  or (analogRead(jstk_y_pin) >532))
+    {
+	Serial.print("jstk_y : ");
+	Serial.print(String(analogRead(jstk_y_pin)));
+	Serial.println();
+	// Désactivation de l'horizontalité automatique
+	if (mode_auto_horizontal) 
+	{
+	    mode_auto_horizontal = false;
+	    digitalWrite(led_pin, LOW);
+	}
+
+	// Mouvement y -
+	if (analogRead(jstk_y_pin) <491)
+	    angle_y_ms=angle_y_ms-servo_resolution;
+	if (angle_y_ms<600)
+	    angle_y_ms=600;
+				  
+	// Mouvement y +
+	if (analogRead(jstk_y_pin) >532)
+	    angle_y_ms=angle_y_ms+servo_resolution;
+	if (angle_y_ms>1600)
+	    angle_y_ms=1600;
+	
+	servo_y.writeMicroseconds(angle_y_ms);
+	Serial.print("angle_y_ms : ");
+	Serial.print(String(angle_y_ms));
+	Serial.print(" -> ");
+	Serial.print(String(servo_y.read()));
+	Serial.println("°");
+    }
+
+    /*****
+     * Mise à l'horizontale automatique
+     *****/
+
+    if (digitalRead(bt_pin) == HIGH)
+    {
+	Serial.print("Mise à l'horizontale automatique");
+	Serial.println();
+	mode_auto_horizontal = true;
+    }
+    if (mode_auto_horizontal)
+	digitalWrite(led_pin, HIGH); // Led
    	
 }
diff --git a/labyrinthe/6-jumeaux/test/servo-test/servo-test.ino b/labyrinthe/6-jumeaux/test/servo-test/servo-test.ino
index 826412b..f7b51db 100644
--- a/labyrinthe/6-jumeaux/test/servo-test/servo-test.ino
+++ b/labyrinthe/6-jumeaux/test/servo-test/servo-test.ino
@@ -11,7 +11,7 @@
  ******************************************************************************/
 
 /****************************************************************************** 
-* Servo-moteurs
+* Servomoteur
 ******************************************************************************/
 
 Servo servo;
@@ -29,11 +29,12 @@ void setup() {
     // Liaison série
     Serial.begin(115200);
 
-    // Servo-moteurs
-    servo.attach(9); // Servo sur broche D9
+    // Servomoteur
+    servo.attach(6); // Servomoteur sur broche D9
     servo_sens = true;
-    angle_ms = 1500; // Position centrale (90°,  500 -> 0° et 2500-> 180°)
-    servo.writeMicroseconds(angle_ms);
+    angle_ms = 600; // 500 -> 0°, 1500 -> 90° et 2500-> 180°
+    servo.writeMicroseconds(angle_ms); // 600 -> 9°
+    /* servo.write(10); */
 }
 
 /******************************************************************************
@@ -51,7 +52,7 @@ void loop() {
     Serial.println("°");
 
     // Sens
-    if (servo.read()==170) {
+    if (servo.read()==90) {
 	    servo_sens=false;
 	}
     if (servo.read()==10) {
@@ -61,13 +62,15 @@ void loop() {
     // Mouvement
     if (servo_sens) {
 	angle_ms=angle_ms+1; // Résolution à 180/2000 soit 0,09°
-	//servo1.write(servo1.read()+1); // Résolution à 1°
+	/* servo.write(servo.read()+1); // Résolution à 1° */
+	/* delay(100); */
     } else {
 	angle_ms=angle_ms-1; // Résolution à 180/2000 soit 0,09°
-	//servo1.write(servo1.read()-1); // Résolution à 1°
+	/* servo.write(servo.read()-1); // Résolution à 1° */
+	/* delay(100); */
     }
     servo.writeMicroseconds(angle_ms);
-    delay(10);
+    delay(5);
 
     // Test des positions
     /* angle_ms =1500; */