diff --git a/controller/Cargo.lock b/controller/Cargo.lock
index 200b541..72f4d51 100644
--- a/controller/Cargo.lock
+++ b/controller/Cargo.lock
@@ -1,6 +1,6 @@
 # This file is automatically @generated by Cargo.
 # It is not intended for manual editing.
-version = 3
+version = 4
 
 [[package]]
 name = "aead"
@@ -58,6 +58,15 @@ dependencies = [
  "memchr",
 ]
 
+[[package]]
+name = "approx"
+version = "0.5.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "cab112f0a86d568ea0e627cc1d6be74a1e9cd55214684db5561995f6dad897c6"
+dependencies = [
+ "num-traits",
+]
+
 [[package]]
 name = "arrayvec"
 version = "0.7.6"
@@ -296,6 +305,7 @@ dependencies = [
  "heapless 0.8.0",
  "hex",
  "log",
+ "mpu6050",
  "panic-probe",
  "pio",
  "pio-proc",
@@ -1458,6 +1468,12 @@ version = "0.2.158"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "d8adc4bb1803a324070e64a98ae98f38934d91957a99cfb3a43dcbc01bc56439"
 
+[[package]]
+name = "libm"
+version = "0.2.11"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8355be11b20d696c8f18f6cc018c4e372165b1fa8126cef092399c9951984ffa"
+
 [[package]]
 name = "libredox"
 version = "0.1.3"
@@ -1508,6 +1524,30 @@ version = "1.1.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "bc4010833aea396656c2f91ee704d51a6f1329ec2ab56ffd00bfd56f7481ea94"
 
+[[package]]
+name = "mpu6050"
+version = "0.1.6"
+source = "git+https://git.ank.dev/ank/mpu6050#32604cc16c6a604fd0a4a35bf66bd9df800da18e"
+dependencies = [
+ "embedded-hal 1.0.0",
+ "libm",
+ "nalgebra",
+]
+
+[[package]]
+name = "nalgebra"
+version = "0.31.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "20bd243ab3dbb395b39ee730402d2e5405e448c75133ec49cc977762c4cba3d1"
+dependencies = [
+ "approx",
+ "num-complex",
+ "num-rational",
+ "num-traits",
+ "simba",
+ "typenum",
+]
+
 [[package]]
 name = "nb"
 version = "0.1.3"
@@ -1544,6 +1584,34 @@ dependencies = [
  "defmt",
 ]
 
+[[package]]
+name = "num-complex"
+version = "0.4.6"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "73f88a1307638156682bada9d7604135552957b7818057dcef22705b4d509495"
+dependencies = [
+ "num-traits",
+]
+
+[[package]]
+name = "num-integer"
+version = "0.1.46"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "7969661fd2958a5cb096e56c8e1ad0444ac2bbcd0061bd28660485a44879858f"
+dependencies = [
+ "num-traits",
+]
+
+[[package]]
+name = "num-rational"
+version = "0.4.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f83d14da390562dca69fc84082e73e548e1ad308d24accdedd2720017cb37824"
+dependencies = [
+ "num-integer",
+ "num-traits",
+]
+
 [[package]]
 name = "num-traits"
 version = "0.2.19"
@@ -2038,6 +2106,18 @@ version = "0.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "5f179d4e11094a893b82fff208f74d448a7512f99f5a0acbd5c679b705f83ed9"
 
+[[package]]
+name = "simba"
+version = "0.7.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "2f3fd720c48c53cace224ae62bef1bbff363a70c68c4802a78b5cc6159618176"
+dependencies = [
+ "approx",
+ "num-complex",
+ "num-traits",
+ "paste",
+]
+
 [[package]]
 name = "siphasher"
 version = "0.3.11"
diff --git a/controller/Cargo.toml b/controller/Cargo.toml
index 5034e96..42651f6 100644
--- a/controller/Cargo.toml
+++ b/controller/Cargo.toml
@@ -58,7 +58,9 @@ rand = { version = "0.8.5", default-features = false }
 embedded-sdmmc = "0.7.0"
 
 bt-hci = { version = "0.1.0", default-features = false, features = ["defmt"] }
-hex = { version = "0.4.3", default-features=false}
+hex = { version = "0.4.3", default-features=false }
+mpu6050 = { git = "https://git.ank.dev/ank/mpu6050" }
+
 
 [profile.release]
 debug = 2
diff --git a/controller/src/main.rs b/controller/src/main.rs
index be6251a..f16bb1f 100644
--- a/controller/src/main.rs
+++ b/controller/src/main.rs
@@ -28,8 +28,9 @@ use embassy_rp::gpio::{Level, Output};
 use embassy_rp::peripherals::{DMA_CH0, PIO0, USB};
 use embassy_rp::pio::{InterruptHandler, Pio};
 use embassy_rp::usb::Driver;
-use embassy_time::{Duration, Timer};
+use embassy_time::{Delay, Duration, Timer};
 use embedded_io_async::Write;
+use mpu6050::Mpu6050;
 use rand::RngCore;
 use reqwless::response;
 use static_cell::StaticCell;
@@ -38,7 +39,7 @@ use vl53l0::RegAddr::*;
 
 bind_interrupts!(struct Irqs {
     PIO0_IRQ_0 => InterruptHandler<PIO0>;
-    I2C1_IRQ => embassy_rp::i2c::InterruptHandler<embassy_rp::peripherals::I2C1>;
+    I2C0_IRQ => embassy_rp::i2c::InterruptHandler<embassy_rp::peripherals::I2C0>;
     USBCTRL_IRQ => embassy_rp::usb::InterruptHandler<USB>;
 });
 
@@ -83,10 +84,28 @@ async fn main(spawner: Spawner) {
     let mut pwm = Pwm::new_output_ab(p.PWM_SLICE1, p.PIN_18, p.PIN_19, c.clone());
     flipper.set_high();
     
-    let sda = p.PIN_26;
-    let scl = p.PIN_27;
+    let sda = p.PIN_20;
+    let scl = p.PIN_21;
     let config = embassy_rp::i2c::Config::default();
-    let mut bus = embassy_rp::i2c::I2c::new_async(p.I2C1, scl, sda, Irqs, config);
+    let mut bus = embassy_rp::i2c::I2c::new_async(p.I2C0, scl, sda, Irqs, config);
+
+    let mut gyro = Mpu6050::new_with_addr(bus,0x68);
+    let mut gyro2 = Mpu6050::new_with_addr(bus,0x69);
+
+    Timer::after_millis(1300).await;
+    gyro.init(&mut Delay).unwrap();
+
+    gyro.set_gyro_range(mpu6050::device::GyroRange::D2000).unwrap();
+    gyro.set_accel_range(mpu6050::device::AccelRange::G16).unwrap();
+    info!("pinidtd");
+    Timer::after_millis(1300).await;
+
+    loop {
+        info!("pos: {}", gyro.get_gyro().unwrap().x);
+        info!("jerk: {}", gyro.get_acc().unwrap().x);
+        info!("temp: {}", gyro.get_temp().unwrap() * (9./5.) + 32.);
+        Timer::after_millis(13).await;
+    }
 
     let fw = include_bytes!("../../cyw43-firmware/43439A0.bin");
     let clm = include_bytes!("../../cyw43-firmware/43439A0_clm.bin");