diff options
Diffstat (limited to 'sensors/gyroscope/itg3200.vala')
| -rw-r--r-- | sensors/gyroscope/itg3200.vala | 8 |
1 files changed, 6 insertions, 2 deletions
diff --git a/sensors/gyroscope/itg3200.vala b/sensors/gyroscope/itg3200.vala index e616848..bc99769 100644 --- a/sensors/gyroscope/itg3200.vala +++ b/sensors/gyroscope/itg3200.vala @@ -14,7 +14,7 @@ */ public class ITG3200 : I2CDevice, Gyroscope { - public int[] rate { get; set; } + public double[] rate { get; set; } private int[] zero = new int[3]; /* ITG3200 14.375 LSBs per °/sec in radians */ @@ -37,7 +37,7 @@ public class ITG3200 : I2CDevice, Gyroscope { } public void init(KeyFile cfg) throws KeyFileError, I2CError { - rate = new int[3]; + rate = new double[3]; var adapter = cfg.get_uint64("ITG3200", "i2c-adapter"); var address = cfg.get_uint64("ITG3200", "i2c-address"); @@ -88,6 +88,10 @@ public class ITG3200 : I2CDevice, Gyroscope { x = ((int16) get_big_word(0x1d)-zero[AXIS.X]) / scale; y = ((int16) get_big_word(0x1f)-zero[AXIS.Y]) / scale; z = ((int16) get_big_word(0x21)-zero[AXIS.Z]) / scale; + + rate[AXIS.X] = radians(x); + rate[AXIS.Y] = radians(y); + rate[AXIS.Z] = radians(z); } } |