public static void Main()
{
_i2cBus = new I2CBus();
_mpu = new MPU6050(_i2cBus, MPU6050.AddressLow, 400);
Debug.Print("Testing device connections...");
if (_mpu.TestConnection() == false) {
Debug.Print("Connection failed");
} else {
Debug.Print("Initializing device...");
_mpu.Initialize();
short accelX, accelY, accelZ;
short gyroX, gyroY, gyroZ;
while (true) {
_mpu.GetMotion6(out accelX, out accelY, out accelZ, out gyroX, out gyroY, out gyroZ);
accelX /= 16384;
accelY /= 16384;
accelZ /= 16384;
gyroX /= 131;
gyroY /= 131;
gyroZ /= 131;
Debug.Print("Accel[" + accelX.ToString() + "," + accelY.ToString() + "," + accelZ.ToString() + "] "
+ "Gyro[" + gyroX.ToString() + "," + gyroY.ToString() + "," + gyroZ.ToString() + "]");
}
}
}
public I2CDevice(I2CBus bus, ushort address, int clockRate)
{
_bus = bus;
_config = new XI2CDevice.Configuration(address, clockRate);
}
public I2CDevice(I2CBus bus, ushort address, int clockRate)
{
_bus = bus;
_config = new XI2CDevice.Configuration(address, clockRate);
}