// ITG-3200_test
// Copyright 2010-2011 Filipe Vieira & various contributors.
// http://code.google.com/p/itg-3200driver
// Simple test of gyro sensors output using default settings.

#include <Wire.h>
#include <ITG3200.h>

ITG3200 gyro = ITG3200();
float  x,y,z,temperature;
int ix, iy, iz;

void setup(void) {
  Serial.begin(9600);
  Wire.begin();      // if experiencing gyro problems/crashes while reading XYZ values
                     // please read class constructor comments for further info.
  delay(1000);
  // Use ITG3200_ADDR_AD0_HIGH or ITG3200_ADDR_AD0_LOW as the ITG3200 address 
  // depending on how AD0 is connected on your breakout board, check its schematics for details
  gyro.init(ITG3200_ADDR_AD0_HIGH); 
  
  Serial.print("zeroCalibrating...");
  gyro.zeroCalibrate(2500, 2);
  Serial.println("done.");
}

void loop(void) {
  while (gyro.isRawDataReady()) {
    /*
    // Reads uncalibrated raw values from the sensor
    gyro.readGyroRaw(&ix,&iy,&iz);
    Serial.print("X:");
    Serial.print(ix);
    Serial.print("  Y:");
    Serial.print(iy);
    Serial.print("  Z:");
    Serial.print(iz);
    */
    
    /*
    // Reads calibrated raw values from the sensor
    gyro.readGyroRawCal(&ix,&iy,&iz);
    Serial.print("X:");
    Serial.print(ix);
    Serial.print("  Y:");
    Serial.print(iy);
    Serial.print("  Z:");
    Serial.print(iz);
    */
    
    // Reads calibrated values in deg/sec
    gyro.readTemp(&temperature);
    gyro.readGyro(&x,&y,&z);
    Serial.print("X:");
    Serial.print(x);
    Serial.print("  Y:");
    Serial.print(y);
    Serial.print("  Z:");
    Serial.print(z);
    Serial.print("  T:");
    Serial.println(temperature);
  }
}