1  # SPDX-FileCopyrightText: Copyright (c) 2020 Bryan Siepert for Adafruit Industries
 2  #
 3  # SPDX-License-Identifier: MIT
 4  import time
 5  import board
 6  import busio
 7  
 8  # pylint:disable=no-member
 9  from adafruit_lsm6ds import Rate, AccelRange, GyroRange
10  
11  from adafruit_lsm6ds.lsm6dsox import LSM6DSOX as LSM6DS
12  
13  # from adafruit_lsm6ds.lsm6ds33 import LSM6DS33 as LSM6DS
14  # from adafruit_lsm6ds.lsm6dso32 import LSM6DSO32 as LSM6DS
15  # from adafruit_lsm6ds.ism330dhcx import ISM330DHCX as LSM6DS
16  
17  i2c = busio.I2C(board.SCL, board.SDA)
18  
19  sensor = LSM6DS(i2c)
20  
21  sensor.accelerometer_range = AccelRange.RANGE_8G
22  print(
23      "Accelerometer range set to: %d G" % AccelRange.string[sensor.accelerometer_range]
24  )
25  
26  sensor.gyro_range = GyroRange.RANGE_2000_DPS
27  print("Gyro range set to: %d DPS" % GyroRange.string[sensor.gyro_range])
28  
29  sensor.accelerometer_data_rate = Rate.RATE_1_66K_HZ
30  # sensor.accelerometer_data_rate = Rate.RATE_12_5_HZ
31  print("Accelerometer rate set to: %d HZ" % Rate.string[sensor.accelerometer_data_rate])
32  
33  sensor.gyro_data_rate = Rate.RATE_1_66K_HZ
34  print("Gyro rate set to: %d HZ" % Rate.string[sensor.gyro_data_rate])
35  
36  while True:
37      print(
38          "Accel X:%.2f Y:%.2f Z:%.2f ms^2 Gyro X:%.2f Y:%.2f Z:%.2f radians/s"
39          % (sensor.acceleration + sensor.gyro)
40      )
41      time.sleep(0.05)