docs: def acceleration(self):
          """Return the acceleration in G's
  
          :returns: Acceleration for every axis as a tuple
  
          :Example:
  
          >>> sensor = MPU6050I2C(gw)
          >>> sensor.wakeup()
          >>> sensor.acceleration()
          (0.6279296875, 0.87890625, 1.1298828125)
          """
          if not self.awake:
              raise Exception("MPU6050 is in sleep mode, use wakeup()")
  
          raw = self.i2c_read_register(0x3B, 6)
          x, y, z = struct.unpack('>HHH', raw)
          scales = {
              self.RANGE_ACCEL_2G: 16384,
              self.RANGE_ACCEL_4G: 8192,
              self.RANGE_ACCEL_8G: 4096,
              self.RANGE_ACCEL_16G: 2048
          }
          scale = scales[self.accel_range]
          return x / scale, y / scale, z / scale