2000dps,divisor 16.0
    divisor 16.0
    full_scale_range 0x30
    gryo,x,axis 0x14
    gryo,y,axis 0x16
    gryo,z,axis 0x18
    rate 50
    freq 10


}

set i2cbus 1
set dIMUaddress 0x28
set range 2000dps


................................................................................
    bno055 writeRegisterBlock $handle \
        gyr,range       [bno055 getValue2 GRY_RANGE [string toupper $range]] \
        gyr,bandwidth   [bno055 getValue GRY_BANDWIDTH_32HZ] \
        gyr,pwrMode     [bno055 getValue GRY_POWER_MODE_NORMAL]
    piio usleep 10

    ##
    ## Switch to Gryo Only mode.
    ##
    bno055 writeRegister $handle operMode [bno055 getValue OPER_MODE_GYROONLY]
    piio usleep 20

    ##
    ## Set divisor so that the output of our gyro axis readings can be turned
    ## into scaled values.
    ##
    set GyroValues(divisor) $GyroValues($range,divisor)
................................................................................
    return;
}

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

    set handle $GyroValues(handle)
    set intValue [bno055 readRegister $handle gyr,data,$axis]














    return [format {%5.0f} [expr {$intValue / $GyroValues(divisor)}]]




}

proc ClearHistory {} {
    global CurrentValue

    set CurrentValue(history) {}
}
................................................................................
        after cancel $GyroValues(afterId)
    }
    set GyroValues(afterId) [after [expr {$GyroValues(rate) * 10}] ReadGyro]

    ##
    ## Read the GYROSCOPE
    ##
    set x [GryoAxisGeading x]
    set y [GryoAxisGeading y]
    set z [GryoAxisGeading z]
    if {abs($x - $CurrentValue(x)) > 0 ||
        abs($y - $CurrentValue(y)) > 0 ||
        abs($z - $CurrentValue(z)) > 0
    } {
        LogValues $x $y $z
    }

    set CurrentValue(x) $x
    set CurrentValue(y) $y
    set CurrentValue(z) $z


}

proc LogValues {x y z} {
    global GyroValues CurrentValue

    #if {[info exists GyroValues(logId)]} {
    #    after cancel $GyroValues(logId)
................................................................................
        -increment 10.0 \
        -format {%3.0f} \
        -wrap no \
        -command [format {set ::GyroValues(rate) [expr {entier([%1$s get])}]}  $w.rateEnt]
    $w.rateEnt set 50.0
    ttk::label $w.rateLbl2 \
        -text { in microseconds}
    #ttk::label $w.frequencyLbl1 \
    #    -text {Logging Rate:}












    #ttk::spinbox $w.frequencyEnt \
    #    -from 1.0 \
    #    -to 1000.0 \
    #    -increment 10.0 \
    #    -format {%4.0f} \
    #    -wrap no \
    #    -command [format {set ::GyroValues(freq) [expr {entier([%1$s get])}]}  $w.frequencyEnt]
    #$w.frequencyEnt set 1.0

    #ttk::label $w.frequencyLbl2 \
    #    -text { in seconds}

    ttk::frame $w.buttons
    ttk::button $w.buttons.start \
        -text {Start} \
        -width 6 \
        -command StartReading
    ttk::button $w.buttons.stop \
        -state disabled \
................................................................................
        -text {Stop} \
        -width 6 \
        -command StopReading
    ttk::button $w.buttons.reset \
        -text {Clear Log} \
        -width 10 \
        -command {.main.history.data delete [.main.history.data children {}]}


        
    grid configure $w.busLbl $w.busCMB $w.addrLbl $w.addrEnt $w.rangeLbl $w.rangeCMB x -padx 2 -sticky ew
    grid configure $w.rateLbl1 $w.rateEnt $w.rateLbl2 x x x x -padx 2 -sticky ew
    #grid configure $w.frequencyLbl1 $w.frequencyEnt $w.frequencyLbl2 x x x -padx 2 -sticky ew

    grid configure $w.buttons -columnspan 7 -sticky ew -pady 3
    grid configure x $w.buttons.start x  $w.buttons.stop x  $w.buttons.reset x -sticky ew
    grid columnconfigure $w.buttons {0 2 4 6} -weight 1
    grid columnconfigure $w 6 -weight 1
        
}

    2000dps,divisor 16.0
    divisor 16.0
    full_scale_range 0x30
    gryo,x,axis 0x14
    gryo,y,axis 0x16
    gryo,z,axis 0x18
    rate 50
    digits 5
    decimals 1
    minChange 0.1
}

set i2cbus 1
set dIMUaddress 0x28
set range 2000dps


................................................................................
    bno055 writeRegisterBlock $handle \
        gyr,range       [bno055 getValue2 GRY_RANGE [string toupper $range]] \
        gyr,bandwidth   [bno055 getValue GRY_BANDWIDTH_32HZ] \
        gyr,pwrMode     [bno055 getValue GRY_POWER_MODE_NORMAL]
    piio usleep 10

    ##
    ## Switch to IMU mode so autocalibration happens.
    ##
    bno055 writeRegister $handle operMode [bno055 getValue OPER_MODE_IMU]
    piio usleep 20

    ##
    ## Set divisor so that the output of our gyro axis readings can be turned
    ## into scaled values.
    ##
    set GyroValues(divisor) $GyroValues($range,divisor)
................................................................................
    return;
}

##
## Gyro: gets a full axis reading, scaled to the full scale reading.  Returns
## in degrees per second.
##
proc GryoAxisGeading {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 $decimals
    if {$decimals} {
        ##
        ## Account for the decimal point
        ##
        incr digits
    }
    
    ##
    ## Account for the sign
    ##
    incr digits
    set newValue [format "%${digits}.${decimals}f" [expr {$intValue / $GyroValues(divisor)}]]
    if {$newValue != $oldValue && abs($newValue - $oldValue) < $GyroValues(minChange)} {
        set newValue $oldValue
    }
    return $newValue
}

proc ClearHistory {} {
    global CurrentValue

    set CurrentValue(history) {}
}
................................................................................
        after cancel $GyroValues(afterId)
    }
    set GyroValues(afterId) [after [expr {$GyroValues(rate) * 10}] ReadGyro]

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

    return
}

proc LogValues {x y z} {
    global GyroValues CurrentValue

    #if {[info exists GyroValues(logId)]} {
    #    after cancel $GyroValues(logId)
................................................................................
        -increment 10.0 \
        -format {%3.0f} \
        -wrap no \
        -command [format {set ::GyroValues(rate) [expr {entier([%1$s get])}]}  $w.rateEnt]
    $w.rateEnt set 50.0
    ttk::label $w.rateLbl2 \
        -text { in microseconds}
    ttk::label $w.numDigitsLbl \
        -text {Digits before decimal}
    ttk::combobox $w.numDigitsCMB \
        -textvariable ::GyroValues(digits) \
        -values [list 3 4] \
        -state readonly
    ttk::label $w.numDecimalsLbl \
        -text {Digits after decimal}
    ttk::combobox $w.numDecimalsCMB \
        -textvariable ::GyroValues(decimals) \
        -values [list 1 2 3 4] \
        -state readonly
    ttk::label $w.minChangeLbl1 \
        -text {Ignore less than}
    ttk::spinbox $w.minChangeEnt \
        -from 0.1 \
        -to 200.0 \
        -increment 0.1 \
        -format {%5.1f} \
        -wrap no \


        -textvariable ::GyroValues(minChange)
    ttk::label $w.minChangeLbl2 \

        -text {dps change}
    ttk::frame $w.buttons
    ttk::button $w.buttons.start \
        -text {Start} \
        -width 6 \
        -command StartReading
    ttk::button $w.buttons.stop \
        -state disabled \
................................................................................
        -text {Stop} \
        -width 6 \
        -command StopReading
    ttk::button $w.buttons.reset \
        -text {Clear Log} \
        -width 10 \
        -command {.main.history.data delete [.main.history.data children {}]}
    
    $w.minChangeEnt set $::GyroValues(minChange)
        
    grid configure $w.busLbl $w.busCMB $w.addrLbl $w.addrEnt $w.rangeLbl $w.rangeCMB x -padx 2 -sticky ew
    grid configure $w.rateLbl1 $w.rateEnt $w.rateLbl2 x x x x -padx 2 -sticky ew
    grid configure $w.numDigitsLbl $w.numDigitsCMB $w.numDecimalsLbl $w.numDecimalsCMB x x x -padx 2 -sticky ew
    grid configure $w.minChangeLbl1 $w.minChangeEnt $w.minChangeLbl2 x x x x -padx 2 -sticky ew
    grid configure $w.buttons -columnspan 7 -sticky ew -pady 3
    grid configure x $w.buttons.start x  $w.buttons.stop x  $w.buttons.reset x -sticky ew
    grid columnconfigure $w.buttons {0 2 4 6} -weight 1
    grid columnconfigure $w 6 -weight 1
        
}