MPU-6050 and how to use it!

Hi all,

My task:
- Use the MPU-6050 on all the moving segments of a humanoid robot to sense its current state.

My problem:
- I have no idea how to use it!

I've just never used anything like this before and I don't find the documentation for it to be very beginner-friendly. I did install the sword demo and it responds to the movement of the MPU (albeit poorly), so I guess the next thing I want to be able to do is read the data from the device. Then I can start interpreting it and hopefully tie it in to a 3D model of sorts. Is there anybody out there that can point me in the right direction? (I know how to google so general info would be perfectly acceptable, although specifics would be appreciated).

Cheers!

Kory