ITG3200 3 axis Gyro
The ITG3200 is a 3 axis gyro that can measure rotations up to 2,000 degrees per second via an I2C interface. It also contains a temperature sensor.
A breakout board is available from SparkFun: http://www.sparkfun.com/products/9801
That page also has a link to the complete datasheet.
Note that the device requires a supply in the range 2.1v to 3.6v and draws approximately 6.5mA. This voltage should be applied to both the VDD pin and VLOGIC pin (also called VIO).
The I2C address of the device can be configured to be either 0xD2 or 0xD0 depending on whether the AD0 pin is pulled high or low.
The CLK pin is not used and so should be connected to ground.
The INT output pin can be used to signal to your microprocessor when there is new data available. This is not supported by WebbotLib by default, ie WebbotLib always reads the current values, but you could always connect it to a digital input pin and use it to signal whether or not it is worth reading new values or not.
The remaining pins: SCL, SDA and GND form the I2C bus.
- getCelsius - Returns the ambient temperature in Celsius at the time of the last read().
- getFahrenheit - Returns the ambient temperature in Fahrenheit at the time of the last read().
- dump - Dump the last read sensor values to the standard output device.
- dumpTo - Dump the contents of the sensor to the specified output stream.
- getTimeLastRead - Returns the value of the clock at the time when the sensor was last read.
- getX - Returns the X axis rotational velocity in degrees per second at the time of the last read().
- getY - Returns the Y axis rotational velocity in degrees per second at the time of the last read().
- getZ - Returns the Z axis rotational velocity in degrees per second at the time of the last read().
- read - Read the sensor and store its current values. Returns TRUE if the sensor has been read successfully, or FALSE if the sensor is busy in which case the read values are unchanged.