Subversion Repositories FlightCtrl

// 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);

  }

}