1 files changed, 43 insertions, 0 deletions
diff --git a/src/gyro.cpp b/src/gyro.cpp
new file mode 100644
index 0000000..bdd68e9
--- /dev/null
+++ b/src/gyro.cpp
@@ -0,0 +1,43 @@
+#include "Arduino.h"
+#include "GY521.h"
+
+GY521 sensor(0x68);
+
+void setup() {
+	Serial.begin(9600);
+
+	// Wait for Serial because the Arduino Leonardo is weird
+	while (!Serial) {}
+
+	Wire.begin();
+
+	delay(100);
+	while (!sensor.wakeup()) {
+		Serial.print(millis());
+		Serial.println("Error: Could not connect to the GY521 sensor. Retrying after 2000 milliseconds...");
+		delay(2000);
+	}
+	sensor.setAccelSensitivity(2); // 8g
+	sensor.setGyroSensitivity(1);  // 500 degrees/s
+
+	sensor.setThrottle();
+	Serial.println("start...");
+
+	// Calibration values
+	sensor.axe = 0.198;
+	sensor.aye = -0.018;
+	sensor.gxe = 0.780;
+	sensor.gye = -1.495;
+}
+
+void loop() {
+	sensor.read();
+	float pitch = sensor.getPitch();
+	float roll = sensor.getRoll();
+
+	Serial.print("Pitch: ");
+	Serial.print(pitch, 3);
+	Serial.print(" Roll: ");
+	Serial.print(roll, 3);
+	Serial.println();
+}
+\ No newline at end of file