좋은 출처 : https://www.electronicwings.com/raspberry-pi/mpu6050-accelerometergyroscope-interfacing-with-raspberry-pi

MPU6050 Code for Raspberry Pi using Python 

'''
        Read Gyro and Accelerometer by Interfacing Raspberry Pi with MPU6050 using Python
	http://www.electronicwings.com
'''
import smbus				#import SMBus module of I2C
from time import sleep        #import

#some MPU6050 Registers and their Address
PWR_MGMT_1   = 0x6B
SMPLRT_DIV   = 0x19
CONFIG       = 0x1A
GYRO_CONFIG  = 0x1B
INT_ENABLE   = 0x38
ACCEL_XOUT_H = 0x3B
ACCEL_YOUT_H = 0x3D
ACCEL_ZOUT_H = 0x3F
GYRO_XOUT_H  = 0x43
GYRO_YOUT_H  = 0x45
GYRO_ZOUT_H  = 0x47


def MPU_Init():
	#write to sample rate register
	bus.write_byte_data(Device_Address, SMPLRT_DIV, 7)
	
	#Write to power management register
	bus.write_byte_data(Device_Address, PWR_MGMT_1, 1)
	
	#Write to Configuration register
	bus.write_byte_data(Device_Address, CONFIG, 0)
	
	#Write to Gyro configuration register
	bus.write_byte_data(Device_Address, GYRO_CONFIG, 24)
	
	#Write to interrupt enable register
	bus.write_byte_data(Device_Address, INT_ENABLE, 1)

def read_raw_data(addr):
	#Accelero and Gyro value are 16-bit
        high = bus.read_byte_data(Device_Address, addr)
        low = bus.read_byte_data(Device_Address, addr+1)
    
        #concatenate higher and lower value
        value = ((high << 8) | low)
        
        #to get signed value from mpu6050
        if(value > 32768):
                value = value - 65536
        return value


bus = smbus.SMBus(5) 	# or bus = smbus.SMBus(0) for older version boards
Device_Address = 0x68   # MPU6050 device address

MPU_Init()

print (" Reading Data of Gyroscope and Accelerometer")

while True:
	
	#Read Accelerometer raw value
	acc_x = read_raw_data(ACCEL_XOUT_H)
	acc_y = read_raw_data(ACCEL_YOUT_H)
	acc_z = read_raw_data(ACCEL_ZOUT_H)
	
	#Read Gyroscope raw value
	gyro_x = read_raw_data(GYRO_XOUT_H)
	gyro_y = read_raw_data(GYRO_YOUT_H)
	gyro_z = read_raw_data(GYRO_ZOUT_H)
	
	#Full scale range +/- 250 degree/C as per sensitivity scale factor
	Ax = acc_x/16384.0
	Ay = acc_y/16384.0
	Az = acc_z/16384.0
	
	Gx = gyro_x/131.0
	Gy = gyro_y/131.0
	Gz = gyro_z/131.0
	

	print ("Gx=%.2f" %Gx, u'\u00b0'+ "/s", "\tGy=%.2f" %Gy, u'\u00b0'+ "/s", "\tGz=%.2f" %Gz, u'\u00b0'+ "/s", "\tAx=%.2f g" %Ax, "\tAy=%.2f g" %Ay, "\tAz=%.2f g" %Az) 	
	sleep(1)

Code 실행 결과 

 Reading Data of Gyroscope and Accelerometer
Gx=0.00 °/s     Gy=0.00 °/s     Gz=0.00 °/s     Ax=0.00 g       Ay=0.00 g       Az=0.00 g
Gx=-0.25 °/s    Gy=-0.05 °/s    Gz=-0.04 °/s    Ax=-0.18 g      Ay=0.56 g       Az=0.72 g
Gx=-0.28 °/s    Gy=-0.10 °/s    Gz=-0.02 °/s    Ax=-0.17 g      Ay=0.56 g       Az=0.74 g
Gx=21.01 °/s    Gy=-46.73 °/s   Gz=-66.13 °/s   Ax=-0.60 g      Ay=0.53 g       Az=1.98 g
Gx=-1.12 °/s    Gy=0.08 °/s     Gz=-2.44 °/s    Ax=0.91 g       Ay=0.25 g       Az=-0.42 g
Gx=-20.89 °/s   Gy=22.92 °/s    Gz=-12.68 °/s   Ax=0.57 g       Ay=0.91 g       Az=-0.08 g
Gx=-8.25 °/s    Gy=6.10 °/s     Gz=-2.79 °/s    Ax=-0.14 g      Ay=-0.28 g      Az=0.79 g
Gx=0.19 °/s     Gy=-1.33 °/s    Gz=0.41 °/s     Ax=-0.27 g      Ay=-0.19 g      Az=0.89 g
Gx=-1.12 °/s    Gy=0.74 °/s     Gz=-1.82 °/s    Ax=0.01 g       Ay=-0.03 g      Az=0.93 g
Gx=-16.98 °/s   Gy=-8.69 °/s    Gz=-0.35 °/s    Ax=0.53 g       Ay=0.11 g       Az=0.41 g
Gx=-0.86 °/s    Gy=-3.69 °/s    Gz=-3.56 °/s    Ax=0.41 g       Ay=-0.85 g      Az=1.86 g
Gx=8.50 °/s     Gy=-13.91 °/s   Gz=-2.17 °/s    Ax=1.00 g       Ay=0.22 g       Az=-0.11 g
Gx=1.95 °/s     Gy=-15.69 °/s   Gz=-6.44 °/s    Ax=0.88 g       Ay=0.49 g       Az=0.22 g
Gx=-0.90 °/s    Gy=-19.22 °/s   Gz=4.11 °/s     Ax=0.79 g       Ay=0.20 g       Az=0.20 g
Gx=2.63 °/s     Gy=-0.53 °/s    Gz=3.50 °/s     Ax=0.57 g       Ay=0.22 g       Az=0.47 g
Gx=7.98 °/s     Gy=-5.44 °/s    Gz=-4.53 °/s    Ax=0.16 g       Ay=-0.44 g      Az=1.19 g
Gx=-1.49 °/s    Gy=2.40 °/s     Gz=-1.51 °/s    Ax=0.50 g       Ay=-0.40 g      Az=0.69 g
Gx=9.06 °/s     Gy=-0.34 °/s    Gz=11.00 °/s    Ax=-0.20 g      Ay=-0.04 g      Az=0.61 g
Gx=8.08 °/s     Gy=-0.40 °/s    Gz=-2.18 °/s    Ax=-0.12 g      Ay=0.08 g       Az=0.93 g
Gx=-0.26 °/s    Gy=-0.06 °/s    Gz=-0.07 °/s    Ax=-0.04 g      Ay=0.12 g       Az=0.94 g
Gx=-0.23 °/s    Gy=-0.02 °/s    Gz=-0.08 °/s    Ax=-0.04 g      Ay=0.12 g       Az=0.94 g
Gx=-0.25 °/s    Gy=-0.08 °/s    Gz=-0.09 °/s    Ax=-0.06 g      Ay=0.15 g       Az=0.93 g
Gx=-0.23 °/s    Gy=-0.05 °/s    Gz=-0.03 °/s    Ax=-0.06 g      Ay=0.17 g       Az=0.93 g
Gx=-0.29 °/s    Gy=-0.06 °/s    Gz=-0.05 °/s    Ax=-0.07 g      Ay=0.15 g       Az=0.92 g
Gx=-0.40 °/s    Gy=0.06 °/s     Gz=-0.11 °/s    Ax=-0.07 g      Ay=0.16 g       Az=0.94 g
Gx=-0.28 °/s    Gy=-0.04 °/s    Gz=-0.08 °/s    Ax=-0.08 g      Ay=0.17 g       Az=0.93 g
Gx=-0.25 °/s    Gy=-0.07 °/s    Gz=-0.04 °/s    Ax=-0.06 g      Ay=0.14 g       Az=0.94 g
Gx=-0.27 °/s    Gy=-0.05 °/s    Gz=-0.02 °/s    Ax=-0.06 g      Ay=0.16 g       Az=0.93 g
Gx=6.27 °/s     Gy=8.89 °/s     Gz=2.79 °/s     Ax=0.06 g       Ay=-0.07 g      Az=0.90 g
Gx=4.08 °/s     Gy=36.98 °/s    Gz=-14.33 °/s   Ax=0.28 g       Ay=0.08 g       Az=0.66 g
Gx=-2.27 °/s    Gy=-2.36 °/s    Gz=-1.52 °/s    Ax=-0.13 g      Ay=0.01 g       Az=0.95 g
Gx=0.41 °/s     Gy=-0.18 °/s    Gz=-0.15 °/s    Ax=-0.09 g      Ay=0.30 g       Az=0.89 g
^CTraceback (most recent call last):
  File "/root/o/2.py", line 82, in <module>
    sleep(1)