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)

원본 영상 : youtu.be/AwRrOxVjAWE 

윗 영상의 코드를 직접 따라 해 봤습니다.  아무래도 원본에 에러가 있는 듯 한데 직접 고쳤습니다.

윗 영상은 저처럼 파이션이 낯선 사람들이 공부용으로는 좋은데 로봇 이미지와 코드는 무료가 아닙니다.

이건 제가 직접 만든 로봇 이미지와 입력한 코드입니다. (Zip 화일로 올려놓았습니다)

설명을 들으면서 치다보니 pygame에 익숙해 지는 느낌이라 오히려 좋았습니다.