diff --git a/src/BaselineOfPharoThings.package/BaselineOfPharoThings.class/instance/devices.st b/src/BaselineOfPharoThings.package/BaselineOfPharoThings.class/instance/devices.st
index 3c1634e..73facd8 100644
--- a/src/BaselineOfPharoThings.package/BaselineOfPharoThings.class/instance/devices.st
+++ b/src/BaselineOfPharoThings.package/BaselineOfPharoThings.class/instance/devices.st
@@ -9,5 +9,6 @@ devices
 		#'PharoThings-Devices-ADXL345' -> #(#'PharoThings-Devices-I2C').
 		#'PharoThings-Devices-MCP9808' -> #(#'PharoThings-Devices-I2C').
 		#'PharoThings-Devices-BME280' -> #(#'PharoThings-Devices-I2C').
-		#'PharoThings-Devices-HD44780' -> #(#'PharoThings-Devices-I2C')
+		#'PharoThings-Devices-HD44780' -> #(#'PharoThings-Devices-I2C').
+		#'PharoThings-Devices-MPU6050' -> #(#'PharoThings-Devices-I2C')
 	}
\ No newline at end of file
diff --git a/src/PharoThings-Devices-MPU6050.package/.filetree b/src/PharoThings-Devices-MPU6050.package/.filetree
new file mode 100644
index 0000000..57a6797
--- /dev/null
+++ b/src/PharoThings-Devices-MPU6050.package/.filetree
@@ -0,0 +1,5 @@
+{
+	"separateMethodMetaAndSource" : false,
+	"noMethodMetaData" : true,
+	"useCypressPropertiesFile" : true
+}
\ No newline at end of file
diff --git a/src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/README.md b/src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/README.md
new file mode 100644
index 0000000..d354b58
--- /dev/null
+++ b/src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/README.md
@@ -0,0 +1,24 @@
+I provide implementation of Gyroscope/Accelerator I2C sensor MPU6050.
+
+The code for initialization and sensors reading is based from example:
+	https://tutorials-raspberrypi.com/measuring-rotation-and-acceleration-raspberry-pi/
+
+Register map:
+	https://www.i2cdevlib.com/devices/mpu6050#registers
+
+To use it: 
+sensor := (RpiBoard3B current) installDevice: PotMPU6050Device new.
+or on inspector:
+sensor := board installDevice: PotMPU6050Device new.
+
+API:
+readGyroscope. "#(1540 -9 -211)"
+readGyroscopeSkaliert. "#(13.526718 -1.916031 -1.526718)"
+readAccelerometer. "#(748 -892 15676)"
+readAccelerometerSkaliert. "#(0.033691 -0.051025 0.974121)"
+readRotationXY. "#(-3.224775339993247 -2.4755961852044157)"
+
+sensor := (RpiBoard3B current) installDevice: PotMPU6050Device new.
+sensor readRollPitchYaw
+sensor printRollPitchYaw.
+sensor finishRollPitchYaw.
\ No newline at end of file
diff --git a/src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/class/defaultI2CAddress.st b/src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/class/defaultI2CAddress.st
new file mode 100644
index 0000000..7e7c828
--- /dev/null
+++ b/src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/class/defaultI2CAddress.st
@@ -0,0 +1,3 @@
+instance creation
+defaultI2CAddress
+	^16r68
\ No newline at end of file
diff --git a/src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/instance/calculateDistanceA.B..st b/src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/instance/calculateDistanceA.B..st
new file mode 100644
index 0000000..8a1ba48
--- /dev/null
+++ b/src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/instance/calculateDistanceA.B..st
@@ -0,0 +1,3 @@
+controlling
+calculateDistanceA: anAccelerometerScaledA B: anAccelerometerScaledB
+	^ ((anAccelerometerScaledA*anAccelerometerScaledA)+(anAccelerometerScaledB*anAccelerometerScaledB)) sqrt
\ No newline at end of file
diff --git a/src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/instance/calculateRotationX.Y.Z..st b/src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/instance/calculateRotationX.Y.Z..st
new file mode 100644
index 0000000..28edfdd
--- /dev/null
+++ b/src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/instance/calculateRotationX.Y.Z..st
@@ -0,0 +1,8 @@
+controlling
+calculateRotationX: anAccelerometerScaledX Y: anAccelerometerScaledY Z: anAccelerometerScaledZ
+	| radiansX radiansY rotationX rotationY |
+	radiansX := anAccelerometerScaledY arcTan: (self calculateDistanceA: anAccelerometerScaledX B: anAccelerometerScaledZ).
+	radiansY := anAccelerometerScaledX arcTan: (self calculateDistanceA: anAccelerometerScaledY B: anAccelerometerScaledZ).	
+	rotationX := radiansX radiansToDegrees.
+	rotationY := radiansY radiansToDegrees * -1.
+	^ { rotationX . rotationY }
\ No newline at end of file
diff --git a/src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/instance/connect.st b/src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/instance/connect.st
new file mode 100644
index 0000000..7da32b0
--- /dev/null
+++ b/src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/instance/connect.st
@@ -0,0 +1,5 @@
+controlling
+connect
+	super connect.
+	self wakeUpSensor 
+	
diff --git a/src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/instance/readAccelerometer.st b/src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/instance/readAccelerometer.st
new file mode 100644
index 0000000..c6a110f
--- /dev/null
+++ b/src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/instance/readAccelerometer.st
@@ -0,0 +1,7 @@
+controlling
+readAccelerometer
+	| accX accY accZ |
+	accX := self readRegisters2C: 16r3b.
+	accY := self readRegisters2C: 16r3d.
+	accZ := self readRegisters2C: 16r3f.
+	^ { accX . accY . accZ }
\ No newline at end of file
diff --git a/src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/instance/readAccelerometerScaled.st b/src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/instance/readAccelerometerScaled.st
new file mode 100644
index 0000000..6b15381
--- /dev/null
+++ b/src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/instance/readAccelerometerScaled.st
@@ -0,0 +1,8 @@
+controlling
+readAccelerometerScaled
+	| acc accX accY accZ |
+	acc := self readAccelerometer.
+	accX := ((acc at: 1)/16384) asFloat round: 6.
+	accY := ((acc at: 2)/16384) asFloat round: 6.
+	accZ := ((acc at: 3)/16384) asFloat round: 6.
+	^ { accX . accY . accZ }
\ No newline at end of file
diff --git a/src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/instance/readGyroscope.st b/src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/instance/readGyroscope.st
new file mode 100644
index 0000000..904c66f
--- /dev/null
+++ b/src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/instance/readGyroscope.st
@@ -0,0 +1,7 @@
+controlling
+readGyroscope
+	| gyroX gyroY gyroZ |
+	gyroX := self readRegisters2C: 16r43.
+	gyroY := self readRegisters2C: 16r45.
+	gyroZ := self readRegisters2C: 16r47.
+	^ { gyroX . gyroY . gyroZ }
\ No newline at end of file
diff --git a/src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/instance/readGyroscopeScaled.st b/src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/instance/readGyroscopeScaled.st
new file mode 100644
index 0000000..ec8b617
--- /dev/null
+++ b/src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/instance/readGyroscopeScaled.st
@@ -0,0 +1,8 @@
+controlling
+readGyroscopeScaled
+	| gyro gyroX gyroY gyroZ |
+	gyro := self readGyroscope.
+	gyroX := (gyro at: 1)/131 asFloat round: 6.
+	gyroY := (gyro at: 2)/131 asFloat round: 6.
+	gyroZ := (gyro at: 3)/131 asFloat round: 6.
+	^ { gyroX . gyroY . gyroZ }
\ No newline at end of file
diff --git a/src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/instance/readRegisters..st b/src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/instance/readRegisters..st
new file mode 100644
index 0000000..cac92b7
--- /dev/null
+++ b/src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/instance/readRegisters..st
@@ -0,0 +1,11 @@
+controlling
+readRegisters: anHex
+	| h l value |
+	h := i2cConnection read8BitsAt: anHex.
+	l := i2cConnection read8BitsAt: anHex + 1.
+	(h == 0 & l == 0)
+		ifTrue: [ self wakeUpSensor. 1 milliSeconds wait.
+			h := i2cConnection read8BitsAt: anHex.
+			l := i2cConnection read8BitsAt: anHex + 1 ].
+	value := (h bitShift: 8) + l.
+	^ value
\ No newline at end of file
diff --git a/src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/instance/readRegisters2C..st b/src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/instance/readRegisters2C..st
new file mode 100644
index 0000000..6415e7f
--- /dev/null
+++ b/src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/instance/readRegisters2C..st
@@ -0,0 +1,7 @@
+controlling
+readRegisters2C: anHex
+	| value  |
+	value := self readRegisters: anHex.
+	value >= 16r8000
+		ifTrue: [ ^ ((65535 - value) + 1) * -1]
+		ifFalse: [^ value ]
\ No newline at end of file
diff --git a/src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/instance/readRotationXY.st b/src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/instance/readRotationXY.st
new file mode 100644
index 0000000..35b8ea4
--- /dev/null
+++ b/src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/instance/readRotationXY.st
@@ -0,0 +1,8 @@
+controlling
+readRotationXY
+	| accelerometerScaled rotation rotationX rotationY |
+	accelerometerScaled := self readAccelerometerScaled.
+	rotation := self calculateRotationX: (accelerometerScaled at: 1) Y: (accelerometerScaled at: 2) Z: (accelerometerScaled at: 3).
+	rotationX := rotation at: 1.
+	rotationY := rotation at: 2.
+	^ { rotationX . rotationY }
\ No newline at end of file
diff --git a/src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/instance/wakeUpSensor.st b/src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/instance/wakeUpSensor.st
new file mode 100644
index 0000000..73cc413
--- /dev/null
+++ b/src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/instance/wakeUpSensor.st
@@ -0,0 +1,3 @@
+controlling
+wakeUpSensor
+	i2cConnection write8BitsAt: 16r6b data: 0
\ No newline at end of file
diff --git a/src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/properties.json b/src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/properties.json
new file mode 100644
index 0000000..f7f8722
--- /dev/null
+++ b/src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/properties.json
@@ -0,0 +1,13 @@
+{
+	"commentStamp" : "AllexOliveira 8/7/2019 18:28",
+	"super" : "PotI2CDevice",
+	"category" : "PharoThings-Devices-MPU6050",
+	"classinstvars" : [ ],
+	"pools" : [ ],
+	"classvars" : [ ],
+	"instvars" : [
+		"readProcess"
+	],
+	"name" : "PotMPU6050Device",
+	"type" : "normal"
+}
\ No newline at end of file
diff --git a/src/PharoThings-Devices-MPU6050.package/monticello.meta/categories.st b/src/PharoThings-Devices-MPU6050.package/monticello.meta/categories.st
new file mode 100644
index 0000000..66e7f4c
--- /dev/null
+++ b/src/PharoThings-Devices-MPU6050.package/monticello.meta/categories.st
@@ -0,0 +1 @@
+SystemOrganization addCategory: #'PharoThings-Devices-MPU6050'!
diff --git a/src/PharoThings-Devices-MPU6050.package/monticello.meta/initializers.st b/src/PharoThings-Devices-MPU6050.package/monticello.meta/initializers.st
new file mode 100644
index 0000000..e69de29
diff --git a/src/PharoThings-Devices-MPU6050.package/monticello.meta/package b/src/PharoThings-Devices-MPU6050.package/monticello.meta/package
new file mode 100644
index 0000000..b84f9fd
--- /dev/null
+++ b/src/PharoThings-Devices-MPU6050.package/monticello.meta/package
@@ -0,0 +1 @@
+(name 'PharoThings-Devices-MPU6050')
\ No newline at end of file
diff --git a/src/PharoThings-Devices-MPU6050.package/properties.json b/src/PharoThings-Devices-MPU6050.package/properties.json
new file mode 100644
index 0000000..6f31cf5
--- /dev/null
+++ b/src/PharoThings-Devices-MPU6050.package/properties.json
@@ -0,0 +1 @@
+{ }
\ No newline at end of file