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#ifndef ITG3200_H
#define ITG3200_H
#include "i2c.h"
class ITG3200 {
private:
I2C& i2c;
public:
int16_t x, y, z;
ITG3200(I2C& i2c_bus) : i2c(i2c_bus) {
}
void init() {
i2c.write_reg(0x68, 0x3e, 0x03); // Select clock reference.
i2c.write_reg(0x68, 0x16, 0x18 | 0x02); // 2000 deg/sec range, 98 Hz bandwidth.
}
void update() {
uint8_t buf[6];
i2c.read_reg(0x68, 0x1d, 6, buf);
x = (buf[0] << 8 | buf[1]) - 0;
y = (buf[2] << 8 | buf[3]) - 0;
z = (buf[4] << 8 | buf[5]) - 0;
}
};
#endif
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