First commit

mpu6050.py

@@ -0,0 +1,41 @@
+import machine
+
+# From https://github.com/udacity/cd13765-deci-emb-sys-l4-term2-project.git
+
+class accel:
+    def __init__(self, i2c, addr=0x68):
+        self.iic = i2c
+        self.addr = addr
+        self.iic.start()
+        self.iic.writeto(self.addr, bytearray([107, 0]))
+        self.iic.stop()
+
+    def get_raw_values(self):
+        self.iic.start()
+        a = self.iic.readfrom_mem(self.addr, 0x3B, 14)
+        self.iic.stop()
+        return a
+
+    def get_ints(self):
+        b = self.get_raw_values()
+        c = []
+        for i in b:
+            c.append(i)
+        return c
+
+    def bytes_toint(self, firstbyte, secondbyte):
+        if not firstbyte & 0x80:
+            return firstbyte << 8 | secondbyte
+        return -(((firstbyte ^ 255) << 8) | (secondbyte ^ 255) + 1)
+
+    def get_values(self):
+        raw_ints = self.get_raw_values()
+        vals = {}
+        vals["AcX"] = self.bytes_toint(raw_ints[0], raw_ints[1])
+        vals["AcY"] = self.bytes_toint(raw_ints[2], raw_ints[3])
+        vals["AcZ"] = self.bytes_toint(raw_ints[4], raw_ints[5])
+        vals["Tmp"] = self.bytes_toint(raw_ints[6], raw_ints[7]) / 340.00 + 36.53
+        vals["GyX"] = self.bytes_toint(raw_ints[8], raw_ints[9])
+        vals["GyY"] = self.bytes_toint(raw_ints[10], raw_ints[11])
+        vals["GyZ"] = self.bytes_toint(raw_ints[12], raw_ints[13])
+        return vals