What exactly are you looking for? Accelerometers measure acceleration, and gyro's measure angular velocity. With the code that you have, you can get yaw/pitch/roll, and acceleration. If you are looking position as well as orientation, you will need another sketch, or to do your own math's on the data from the sensors. Position can be found by integrating velocity, which can be found by integrating acceleration. Ideally you will want to use a fused data algorithm for this and not the direct data from just the accelerometer. A complimentary or Kalman filter is probably your best best.