import machine

class accel():

def __init__(self, i2c, addr=0x68):

self.iic = i2c

self.addr = addr

#self.iic.start()

self.iic.writeto(self.addr, bytearray([107, 0]))

#self.iic.stop()

def get_raw_values(self):

#self.iic.start()

a = self.iic.readfrom_mem(self.addr, 0x3B, 14)

#self.iic.stop()

return a

def get_ints(self):

b = self.get_raw_values()

c = []

for i in b:

c.append(i)

return c

def bytes_toint(self, firstbyte, secondbyte):

if not firstbyte & 0x80:

return firstbyte << 8 | secondbyte

return - (((firstbyte ^ 255) << 8) | (secondbyte ^ 255) + 1)

def get_values(self):

raw_ints = self.get_raw_values()

vals = {}

vals["AcX"] = self.bytes_toint(raw_ints[0], raw_ints[1])

vals["AcY"] = self.bytes_toint(raw_ints[2], raw_ints[3])

vals["AcZ"] = self.bytes_toint(raw_ints[4], raw_ints[5])

vals["Tmp"] = self.bytes_toint(raw_ints[6], raw_ints[7]) / 340.00 + 36.53

vals["GyX"] = self.bytes_toint(raw_ints[8], raw_ints[9])

vals["GyY"] = self.bytes_toint(raw_ints[10], raw_ints[11])

vals["GyZ"] = self.bytes_toint(raw_ints[12], raw_ints[13])

return vals # returned in range of Int16

# -32768 to 32767

def val_test(self): # ONLY FOR TESTING! Also, fast reading sometimes crashes IIC

from time import sleep

while 1:

print(self.get_values())

sleep(0.05)