1765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang# Author: John Van Drasek <john.r.van.drasek@intel.com> 2765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang# Copyright (c) 2015 Intel Corporation. 3765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang# 4765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang# Permission is hereby granted, free of charge, to any person obtaining 5765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang# a copy of this software and associated documentation files (the 6765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang# "Software"), to deal in the Software without restriction, including 7765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang# without limitation the rights to use, copy, modify, merge, publish, 8765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang# distribute, sublicense, and/or sell copies of the Software, and to 9765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang# permit persons to whom the Software is furnished to do so, subject to 10765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang# the following conditions: 11765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang# 12765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang# The above copyright notice and this permission notice shall be 13765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang# included in all copies or substantial portions of the Software. 14765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang# 15765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, 16765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang# EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF 17765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang# MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND 18765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang# NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE 19765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang# LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION 20765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang# OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION 21765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang# WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. 22765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang 23765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhangimport time 24765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhangimport pyupm_itg3200 as itg3200 25765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang 26765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang# Create an I2C gyro object 27765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhanggyro = itg3200.Itg3200(0) 28765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang 29765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhangwhile(1): 30765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang gyro.update() # Update the data 31765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang rot = gyro.getRawValues() # Read raw sensor data 32765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang ang = gyro.getRotation() # Read rotational speed (deg/sec) 33765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang print "Raw: %6d %6d %6d" % (rot[0], rot[1], rot[2]) 34765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang print "AngX: %5.2f" % (ang[0]) 35765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang print "AngY: %5.2f" % (ang[1]) 36765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang print "AngZ: %5.2f" % (ang[2]) 37765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang print "Temp: %5.2f Raw: %6d" % (gyro.getTemperature(), gyro.getRawTemp()) 38765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang print ' ' 39765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang time.sleep(1) 40765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang 41765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang# Delete the gyro object 42765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhangdel gyro 43