Updated example for consistency

Arduino/L3G4200D/Examples/L3G4200D_raw/L3G4200D_raw.ino

@@ -1,55 +1,88 @@
-/**
-* A sketch to test the L3G4200D sensor
-* AUTHOR: JONATHAN ARNETT
-* MODIFIED: 02/04/2013
+// I2C device class (I2Cdev) demonstration Arduino sketch for L3G4200D class
+// 7/31/2013 by Jonathan Arnett <j3rn@j3rn.com>
+// Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib
+//
+// Changelog:
+//     2011-07-31 - initial release
+
+/* ============================================
+I2Cdev device library code is placed under the MIT license
+Copyright (c) 2011 Jonathan Arnett, Jeff Rowberg
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.
+===============================================
 */
 
+// Arduino Wire library is required if I2Cdev I2CDEV_ARDUINO_WIRE implementation
+// is used in I2Cdev.h
+#include <Wire.h>
+
+// I2Cdev and L3G4200D must be installed as libraries, or else the .cpp/.h files
+// for both classes must be in the include path of your project
 #include <I2Cdev.h>
 #include <L3G4200D.h>
-#include <Wire.h>
 
+// default address is 105
+// specific I2C address may be passed here
 L3G4200D gyro;
 
-#define X 0
-#define Y 1
-#define Z 2
+int16_t avx, avy, avz;
+
+#define LED_PIN 13 // (Arduino is 13, Teensy is 6)
+bool blinkState = false;
 
 void setup() {
-  Wire.begin();
-  Serial.begin(9600);
-
-  // initialize
-  Serial.println("Initializing L3G4200D...");
-  gyro.initialize();
-
-  // test connection
-  Serial.println("Testing connection to device...");
-  Serial.println(gyro.testConnection() ? "L3G4200D connection successful" : 
-   "L3G4200D connection failed");
+    // join I2C bus (I2Cdev library doesn't do this automatically)
+    Wire.begin();
+
+    // initialize serial communication
+    // (38400 chosen because it works as well at 8MHz as it does at 16MHz, but
+    // it's really up to you depending on your project)
+    Serial.begin(9600);
+
+    // initialize device
+    Serial.println("Initializing I2C devices...");
+    gyro.initialize();
+
+    // verify connection
+    Serial.println("Testing device connections...");
+    Serial.println(gyro.testConnection() ? "L3G4200D connection successful" : "L3G4200D connection failed");
+
+    // configure LED for output
+    pinMode(LED_PIN, OUTPUT);
+
+    // data seems to be best when full scale is 2000
+    gyro.setFullScale(2000);
 }
 
 void loop() {
-  bool indiv = 0;
-  String names[3] = {"x", "y", "z"};
-  int16_t data[3] = {0, 0, 0};
-
-  if (indiv) {
-    data[X] = gyro.getAngularVelocityX();
-    data[Y] = gyro.getAngularVelocityY();
-    data[Z] = gyro.getAngularVelocityZ();
-  } else {
-    gyro.getAngularVelocity(&data[X], &data[Y], &data[Z]);
-  }
-
-  for (int i = 0; i < 3; i++) {
-    Serial.print(names[i]); 
-    Serial.print(" = "); 
-    Serial.print(data[i]);
-    Serial.print("\t");
-  }  
-
-  Serial.println();
-  delay(500);
+    // read raw angular velocity measurements from device
+    gyro.getAngularVelocity(&avx, &avy, &avz);
+
+    Serial.print("angular velocity:\t");
+    Serial.print(avx); Serial.print("\t");
+    Serial.print(avy); Serial.print("\t");
+    Serial.println(avz);
+
+    // blink LED to indicate activity
+    blinkState = !blinkState;
+    digitalWrite(LED_PIN, blinkState);
 }
 
 

Arduino/L3G4200D/L3G4200D.cpp

@@ -1,11 +1,10 @@
 // I2Cdev library collection - L3G4200D I2C device class
 // Based on STMicroelectronics L3G4200D datasheet rev. 3, 12/2010
-// 7/29/2013 by Jonathan "j3rn" Arnett <j3rn@j3rn.com>
-// [current release date] by Jonathan "j3rn" Arnett <j3rn@j3rn.com>
+// 7/31/2013 by Jonathan Arnett <j3rn@j3rn.com>
 // Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib
 //
 // Changelog:
-//     2013-07-29 - initial release
+//     2013-07-31 - initial release
 
 /* ============================================
 I2Cdev device library code is placed under the MIT license

Arduino/L3G4200D/L3G4200D.h

@@ -1,11 +1,10 @@
 // I2Cdev library collection - L3G4200D I2C device class header file
 // Based on STMicroelectronics L3G4200D datasheet rev. 3, 12/2010
-// TODO Add release date here
-// 7/29/2013 by Jonathan "j3rn" Arnett <j3rn@j3rn.com>
+// 7/31/2013 by Jonathan Arnett <j3rn@j3rn.com>
 // Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib
 //
 // Changelog:
-//     2013-07-29 - initial release
+//     2013-07-31 - initial release
 
 /* ============================================
 I2Cdev device library code is placed under the MIT license