func (g *GY520) GetGyro() (gyroX int, gyroY int, gyroZ int, e error) {
buffer, e := g.device.Read(REG_GYRO_XOUT_H, 6)
if e != nil {
return 0, 0, 0, e
}
gyroX = int(int16(hwio.UInt16FromUInt8(buffer[0], buffer[1])))
gyroY = int(int16(hwio.UInt16FromUInt8(buffer[2], buffer[3])))
gyroZ = int(int16(hwio.UInt16FromUInt8(buffer[4], buffer[5])))
return gyroX, gyroY, gyroZ, nil
}
func (g *GY520) GetAccel() (accelX int, accelY int, accelZ int, e error) {
buffer, e := g.device.Read(REG_ACCEL_XOUT_H, 6)
if e != nil {
return 0, 0, 0, e
}
accelX = int(int16(hwio.UInt16FromUInt8(buffer[0], buffer[1])))
accelY = int(int16(hwio.UInt16FromUInt8(buffer[2], buffer[3])))
accelZ = int(int16(hwio.UInt16FromUInt8(buffer[4], buffer[5])))
return accelX, accelY, accelZ, nil
}
func (g *GY520) GetTemp() (int, error) {
buffer, e := g.device.Read(REG_TEMP_OUT_H, 2)
if e != nil {
return 0, e
}
return int(int16(hwio.UInt16FromUInt8(buffer[0], buffer[1]))), nil
}