Library.

Introduction

This is a library for the ST L3G4200D gyroscope sensor, found on some boards like the Digilent PmodGYRO or the Waveshare L3G4200D breakout.

Author

Written by Qyriad qyria.nosp@m.d@qy.nosp@m.riad..nosp@m.me, 2023.

License

MIT license, all text above must be included in any redistribution.

Usage

This library uses Adafruit's Unified Sensor API.

To initialize this sensor, first create an object of L3G4200D_Unified with some number of your choosing that will uniquely identify this sensor in your sketch. Examples in this documentation will use 2113 as the sensor ID. Once you've created the object, call L3G4200D_Unified::begin, passing a the number of the pin you have connected to the gyroscope's SPI Chip Select (CS) pin. You may also optionally pass a specific range (from from gyroRange_t) if you want a specific range of values to be available (the default 4.36 radians per second). Using a higher range lowers the resolution of the sensor, and using a lower range increases the resolution of the sensor.

You may also call L3G4200D_Unified::getSensor to get some metadata about the sensor, such as its minimum and maximum values, its range, the version of this driver, etc.

Once you have called L3G4200D_Unified::begin, you may then call L3G4200D::getEvent as many times as you want to sample gyroscope motion data. This will populate event.gyro.x, event.gyro.y, and event.gyro.z in the object you pass it. Here's an example that prints out the X-axis value to the serial console:

L3G4200D_Unified gyro = L3G4200D_Unified(2113);
// This example uses board pin 10 as the CS (Chip Select).
// Make sure whatever pin you choose on your Arduino board is connected
// to the SPI CS pin of your gyroscope!
gyro.begin(10);
sensors_event_t event;
gyro.getEvent(&event);
Serial.println(event.gyro.x);

See examples/sensorapi/sensorapi.ino for a full example.

See also: L3G4200D_Unified::begin; L3G4200D_Unified::getEvent