@Krodal
I noticed that code but it too is ridiculously long. I'm sure 90% of the code is unneeded but its hard to determine what MUST be there.
@wwbrown
The problem is I'm not really sure where to begin. The MPU-6050 has so much stuff to it, most of which I could care less about. I wouldn't mind submitting my own cleaned-up code but I need something reasonable to work with. I don't have time to spend days upon days of research.