"""
Motion Crouton (LSM6DS) Demo Code
Breadstick Innovations
April 16, 2024
https://learn.breadstick.ca/breadstick/breadsticks/support-boards/i2c-devices/motion-crouton
"""
import board
import time
import busio
from adafruit_lsm6ds.lsm6ds3trc import LSM6DS3TRC as LSM6DS
from adafruit_lsm6ds import Rate, AccelRange, GyroRange
crouton_i2c = board.I2C() # Default Breadstick I2C pins D11(SCL) & D12(SDA)
# Setup I2C Accelerometer and Gyroscope
IMU = LSM6DS(crouton_i2c)
IMU.accelerometer_range = AccelRange.RANGE_4G
print("Accelerometer range set to: %d G" % AccelRange.string[IMU.accelerometer_range])
IMU.gyro_range = GyroRange.RANGE_1000_DPS
print("Gyro range set to: %d DPS" % GyroRange.string[IMU.gyro_range])
IMU.accelerometer_data_rate = Rate.RATE_1_66K_HZ
print("Accelerometer rate set to: %d HZ" % Rate.string[IMU.accelerometer_data_rate])
IMU.gyro_data_rate = Rate.RATE_1_66K_HZ
print("Gyro rate set to: %d HZ" % Rate.string[IMU.gyro_data_rate])
while True:
acc_x, acc_y,acc_z = IMU.acceleration
gyro_x,gyro_y,gyro_z = IMU.gyro
plotter_data = (acc_x, acc_y, acc_z, gyro_x, gyro_y, gyro_z) # Mu's Plotter only displays tuples, this is a single object tuple
print(plotter_data)
print(f'Accelerations:\tX[{acc_x}]\tY[{acc_y}]\tZ[{acc_z}]')
print(f'Rotations:\tX[{gyro_x}]\tY[{gyro_y}]\tZ[{gyro_z}]')
print("")
time.sleep(0.1)
