#include <Adafruit_LSM6DS33.h>
Adafruit_LSM6DS33 lsm;

void setup() {
  Serial.begin(115200);
  while (!Serial) delay(10);
  if (!lsm.begin_I2C()) { Serial.println("ERROR"); while(1); }
  lsm.setAccelRange(LSM6DS_ACCEL_RANGE_2_G);
  lsm.setGyroRange(LSM6DS_GYRO_RANGE_500_DPS);
  lsm.setAccelDataRate(LSM6DS_RATE_52_HZ);
  lsm.setGyroDataRate(LSM6DS_RATE_52_HZ);
  Serial.println("READY");
}

void loop() {
  sensors_event_t accel, gyro, temp;
  lsm.getEvent(&accel, &gyro, &temp);
  // format: ax,ay,az,gx,gy,gz
  Serial.print(accel.acceleration.x, 2); Serial.print(",");
  Serial.print(accel.acceleration.y, 2); Serial.print(",");
  Serial.print(accel.acceleration.z, 2); Serial.print(",");
  Serial.print(gyro.gyro.x, 2); Serial.print(",");
  Serial.print(gyro.gyro.y, 2); Serial.print(",");
  Serial.println(gyro.gyro.z, 2);
  delay(1000);
}