//
//    FILE: GY521_angle.ino
//  AUTHOR: Rob Tillaart
// PURPOSE: read angleX, angleY, angleZ
//     URL: https://github.com/RobTillaart/GY521


#include "GY521.h"

GY521 sensor(0x68);

uint32_t counter = 0;


void setup()
{
  Serial.begin(115200);
  Serial.println();
  Serial.println(__FILE__);
  Serial.print("GY521_LIB_VERSION: ");
  Serial.println(GY521_LIB_VERSION);

  Wire.begin();

  delay(100);
  while (sensor.wakeup() == false)
  {
    Serial.print(millis());
    Serial.println("\tCould not connect to GY521: please check the GY521 address (0x68/0x69)");
    delay(1000);
  }
  sensor.setAccelSensitivity(2);  //  8g
  sensor.setGyroSensitivity(1);   //  500 degrees/s

  sensor.setThrottle();
  Serial.println("start...");

  //  set calibration values from calibration sketch.
  sensor.axe = 0;
  sensor.aye = 0;
  sensor.aze = 0;
  sensor.gxe = 0;
  sensor.gye = 0;
  sensor.gze = 0;

}


void loop()
{
  sensor.read();
  float x = sensor.getAngleX();
  float y = sensor.getAngleY();
  float z = sensor.getAngleZ(); 
  
  float gx = sensor.getGyroX();
  float gy = sensor.getGyroY();
  float gz = sensor.getGyroZ();

  if (counter % 10 == 0)
  {
    //  Serial.println("\nCNT\tX\tY\tZ");
  }

  //  Serial.print(counter);
  //  Serial.print('\t');
  Serial.print(gx, 1);
  Serial.print('\t');
  Serial.print(gy, 1);
  Serial.print('\t');
  Serial.print(gz, 1);
  Serial.println();
  delay (25);
  counter++;
}


//  -- END OF FILE --