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mpu6050: read gyroscope

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Ayke van Laethem
2018-11-17 23:45:56 +01:00
parent 53fbc39809
commit 36b00aac58
1 changed files with 10 additions and 0 deletions
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mpu6050/mpu6050.go
+10
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@@ -46,3 +46,13 @@ func (d Device) ReadAcceleration() (x int16, y int16, z int16) {
z = int16((uint16(data[4]) << 8) | uint16(data[5]))
return
}
// ReadRotation reads the current rotation from the device and returns it.
func (d Device) ReadRotation() (x int16, y int16, z int16) {
data := make([]byte, 6)
d.bus.ReadRegister(Address, GYRO_XOUT_H, data)
x = int16((uint16(data[0]) << 8) | uint16(data[1]))
y = int16((uint16(data[2]) << 8) | uint16(data[3]))
z = int16((uint16(data[4]) << 8) | uint16(data[5]))
return
}