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#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 | 0x02); // 2000 deg/sec range, 98 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
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