1 files changed, 24 insertions, 0 deletions
diff --git a/itg3200.h b/itg3200.h
new file mode 100644
index 0000000..f03b6f3
--- /dev/null
+++ b/itg3200.h
@@ -0,0 +1,24 @@
+#ifndef ITG3200_H
+#define ITG3200_H
+
+#include "i2csensor.h"
+
+class ITG3200 : public I2CSensor {
+	public:
+		int16_t x, y, z;
+		
+		void init() {
+			i2c_address = 0x68;
+			write(0x3e, 0x03); // Select clock reference.
+			write(0x16, 0x18 | 0x05); // 2000 deg/sec range, 10 Hz bandwidth.
+		}
+		
+		void update() {
+			read(0x1d, 6);
+			x = (rxdata[0] << 8 | rxdata[1]) - -50;
+			y = (rxdata[2] << 8 | rxdata[3]) - 36;
+			z = (rxdata[4] << 8 | rxdata[5]) - 2;
+		}
+};
+
+#endif