switch (i)

{

case 0:

Serial.print("Acc.x :");

break;

case 1:

Serial.print("Acc.y :");

break;

case 2:

Serial.print("Acc.z :");

break;

case 3:

Serial.print("gyro.x :");

break;

case 4:

Serial.print("gyro.y :");

break;

case 5:

Serial.print("gyro.z :");

break;

default:

Serial.print("Err");

}

Serial.println(rawSixDof[i]);

}

Serial.println("");

angle[0] = _atan2(rawSixDof[0],rawSixDof[2]);

angle[1] = _atan2(rawSixDof[1],rawSixDof[2]);

Serial.print("X:");

//pitch & roll

Serial.println(angle[0]/10.0);

Serial.print("Y:");

Serial.println(angle[1]/10.0);

Serial.println("");