Why does my program stop working? (MPU6050)

Question

I'm using the DMP example from Jeff Rowberg's MPU library (with Arduino UNO) and it works well. But with this simple modification it works for a while and then stops. I don't understand why this is happening. If someone knows this will help me a lot. Thanks!

//GND - GND
//VCC - VCC
//SDA - Pin A4
//SCL - Pin A5
//INT - Pin 2

#include "I2Cdev.h"
#include "MPU6050_6Axis_MotionApps20.h"
#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
#include "Wire.h"
#endif

MPU6050 mpu; //Declaramos el sensor en la dirección por defecto (0x68),AD0 a LOW

#define INTERRUPT_PIN 2 //Definir el pin de interrupciones
#define LED_PIN 13
bool blinkState = false;

//Variables de control y estado del MPU
bool dmpReady = false; // Es true si la inicialización del DMO es exitosa
uint8_t mpuIntStatus; // Mantiene el estado actual del byte de las interrupciones
uint8_t devStatus; // Devuelve el estado después de cada operación del dispositivo(0 = exitoso, !0 = error)
uint16_t packetSize; // Tamaño esprado del paquete (por defecto es 42 bytes)
uint16_t fifoCount; // Cuenta todos los valores actules en el FIFO
uint8_t fifoBuffer[64]; // Buffer de almacenamiento

//Variables de orientación y movimiento
Quaternion q;           // [w, x, y, z]
VectorInt16 aa;         // [x, y, z]
VectorInt16 aaReal;     // [x, y, z]
VectorInt16 aaWorld;    // [x, y, z]
VectorFloat gravity;    // [x, y, z]
float ypr[3];           // [yaw, pitch, roll]
float yaw;
float pitch;
float roll;
int izquierda = 0;
int derecha = 0;

volatile bool mpuInterrupt = false;
void dmpDataReady() {
  mpuInterrupt = true;
}

void setup() {
  //Iniciar comunicación con el bus I2C
#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
  Wire.begin();
  Wire.setClock(400000); // 400kHz I2C clock. Comment this line if having compilation difficulties
#elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE
  Fastwire::setup(400, true);
#endif
  Serial.begin(38400);
  // Iniciar MPU6050
  Serial.println(F("Initializing I2C devices..."));
  mpu.initialize();
  pinMode(INTERRUPT_PIN, INPUT);

  // Comprobar  conexion
  Serial.println(F("Testing device connections..."));
  Serial.println(mpu.testConnection() ? F("MPU6050 connection successful") : F("MPU6050 connection failed"));

  // Iniciar DMP
  Serial.println(F("Initializing DMP..."));
  devStatus = mpu.dmpInitialize();
  // Valores de calibracion
  mpu.setXGyroOffset(219);
  mpu.setYGyroOffset(75);
  mpu.setZGyroOffset(-19); //85
  mpu.setZAccelOffset(1688);
  // Activar DMP
  if (devStatus == 0) {
    Serial.println(F("Enabling DMP..."));
    mpu.setDMPEnabled(true);
    // Activar interrupcion
    attachInterrupt(digitalPinToInterrupt(INTERRUPT_PIN), dmpDataReady, RISING);
    mpuIntStatus = mpu.getIntStatus();
    Serial.println(F("DMP ready! Waiting for first interrupt..."));
    dmpReady = true;
    // get expected DMP packet size for later comparison
    packetSize = mpu.dmpGetFIFOPacketSize();
  } else {
    // ERROR!
    // 1 = initial memory load failed
    // 2 = DMP configuration updates failed
    // (if it's going to break, usually the code will be 1)
    Serial.print(F("DMP Initialization failed (code "));
    Serial.print(devStatus);
    Serial.println(F(")"));
  }
}

void loop() {
  // Si fallo al iniciar, parar programa
  if (!dmpReady) return;
  // Ejecutar mientras no hay interrupcion
  while (!mpuInterrupt && fifoCount < packetSize) {
    // AQUI EL RESTO DEL CODIGO DE TU PROGRRAMA
  }
  mpuInterrupt = false;
  mpuIntStatus = mpu.getIntStatus();
  // Obtener datos del FIFO
  fifoCount = mpu.getFIFOCount();
  // Controlar overflow
  if ((mpuIntStatus & 0x10) || fifoCount == 1024) {
    mpu.resetFIFO();
    Serial.println(F("FIFO overflow!"));
  } else if (mpuIntStatus & 0x02) {
    // wait for correct available data length, should be a VERY short wait
    while (fifoCount < packetSize) fifoCount = mpu.getFIFOCount();
    // read a packet from FIFO
    mpu.getFIFOBytes(fifoBuffer, packetSize);
    mpu.resetFIFO();
    // track FIFO count here in case there is > 1 packet available
    // (this lets us immediately read more without waiting for an interrupt)
    fifoCount -= packetSize;
    // Mostrar Yaw, Pitch, Roll
    mpu.dmpGetQuaternion(&q, fifoBuffer);
    mpu.dmpGetGravity(&gravity, &q);
    mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);
    yaw = -ypr[0] * 180 / M_PI;
    pitch = ypr[1] * 180 / M_PI;
    roll = ypr[2] * 180 / M_PI;
    if (yaw > 90) {
      izquierda = 1;
      derecha = 0;
    }
    if (roll > 90) {
      derecha = 1;
      izquierda = 0;
    }
    if (yaw < 90 && roll < 90) {
      derecha = 0;
      izquierda = 0;
    }
    Serial.print("ángulos\t");
    Serial.print(yaw);
    Serial.print("\t");
    Serial.print(pitch);
    Serial.print("\t");
    Serial.print(roll);
    Serial.print("\t");
    Serial.print("izquierda");
    Serial.print("\t");
    Serial.print(izquierda);
    Serial.print("\t");
    Serial.print("derecha");
    Serial.print("\t");
    Serial.println(derecha);
  }
}