AddedGyro

Author: pedromsousalima

examples/Modulino_Movement/Basic/Basic.ino

@@ -5,6 +5,9 @@ ModulinoMovement movement;
 float x;
 float y;
 float z;
+float gx;
+float gy;
+float gz;
 
 void setup() {
   Serial.begin(9600);
@@ -19,11 +22,23 @@ void loop() {
   y = movement.getY();
   z = movement.getZ();
 
+  gx = movement.getGyroX();
+  gy = movement.getGyroY();
+  gz = movement.getGyroZ();
+
   Serial.print("Movement data: ");
+
   Serial.print("x ");
-  Serial.print(x, 3);
+  Serial.print(x,3);
   Serial.print("	y ");
-  Serial.print(y, 3);
+  Serial.print(y,3);
   Serial.print("	z ");
-  Serial.println(z, 3);
+  Serial.print(z,3);
+
+  Serial.print("\t\t gx ");
+  Serial.print(gx,1);
+  Serial.print("	|gy ");
+  Serial.print(gy,1);
+  Serial.print("	|gz ");
+  Serial.println(gz,1);
 }

src/Modulino.h

@@ -313,13 +313,15 @@ class ModulinoMovement : public Module {
   }
   int update() {
     if (initialized) {
-      return _imu->readAcceleration(x, y, z);
+      int accel = _imu->readAcceleration(x, y, z);
+      int gyro = _imu->readGyroscope(gx, gy, gz);
+      return accel && gyro;
     }
     return 0;
   }
   int available() {
     if (initialized) {
-      return _imu->accelerationAvailable();
+      return _imu->accelerationAvailable() && _imu->gyroscopeAvailable();
     }
     return 0;
   }
@@ -332,9 +334,19 @@ class ModulinoMovement : public Module {
   float getZ() {
     return z;
   }
+  float getGyroX() {
+    return gx;
+  }
+  float getGyroY() {
+    return gy;
+  }
+  float getGyroZ() {
+    return gz;
+  }
 private:
   LSM6DSOXClass* _imu = nullptr;
   float x,y,z;
+  float gx,gy,gz;
   int initialized = 0;
 };