## This program is loosely based on a C program by the same name from Dexter
## Industries. See
##   https://github.com/DexterInd/DI_LEGO_NXT/blob/master/dIMU/RobotC/Gyro_Example.c
##
## It utilizes the low leve bno055 package.
##

lappend atuo_path [file dirname [info script]] [pwd]
::tcl::tm::path add [file dirname [info script]] [pwd]

package require piio
package require bno055

##
## These bytes set the full scale range of the gyroscope.
................................................................................
    return;
}

##
## Gyro: gets a full axis reading, scaled to the full scale reading.  Returns
## in degrees per second.
##
proc GyroAxisGeading {axis oldValue} {
    global GyroValues

    set handle $GyroValues(handle)
    set intValue [bno055 readRegister $handle gyr,data,$axis]
    set digits $GyroValues(digits)
    set decimals $GyroValues(decimals)
    incr digits $decimals
................................................................................
        after cancel $GyroValues(afterId)
    }
    set GyroValues(afterId) [after [expr {$GyroValues(rate) * 10}] ReadGyro]

    ##
    ## Read the GYROSCOPE
    ##
    set x [GyroAxisGeading x $CurrentValue(x)]
    set y [GyroAxisGeading y $CurrentValue(y)]
    set z [GyroAxisGeading z $CurrentValue(z)]
    if {$x != $CurrentValue(x) ||
        $y != $CurrentValue(y) ||
        $z != $CurrentValue(z)
    } {
        LogValues $x $y $z
    }
    

## This program is loosely based on a C program by the same name from Dexter
## Industries. See
##   https://github.com/DexterInd/DI_LEGO_NXT/blob/master/dIMU/RobotC/Gyro_Example.c
##
## It utilizes the low leve bno055 package.
##

lappend auuo_path [file dirname [info script]] [pwd]
::tcl::tm::path add [file dirname [info script]] [pwd]

package require piio
package require bno055

##
## These bytes set the full scale range of the gyroscope.
................................................................................
    return;
}

##
## Gyro: gets a full axis reading, scaled to the full scale reading.  Returns
## in degrees per second.
##
proc GyroAxisReading {axis oldValue} {
    global GyroValues

    set handle $GyroValues(handle)
    set intValue [bno055 readRegister $handle gyr,data,$axis]
    set digits $GyroValues(digits)
    set decimals $GyroValues(decimals)
    incr digits $decimals
................................................................................
        after cancel $GyroValues(afterId)
    }
    set GyroValues(afterId) [after [expr {$GyroValues(rate) * 10}] ReadGyro]

    ##
    ## Read the GYROSCOPE
    ##
    set x [GyroAxisReading x $CurrentValue(x)]
    set y [GyroAxisReading y $CurrentValue(y)]
    set z [GyroAxisReading z $CurrentValue(z)]
    if {$x != $CurrentValue(x) ||
        $y != $CurrentValue(y) ||
        $z != $CurrentValue(z)
    } {
        LogValues $x $y $z
    }