<reponame>GAVLab/ros-hab-dcs<gh_stars>1-10
from __future__ import print_function
import qwiic_icm20948
import time
import sys

def runExample():

	print("\nSparkFun 9DoF ICM-20948 Sensor  Example 1\n")
	IMU = qwiic_icm20948.QwiicIcm20948()

	if IMU.connected == False:
		print("The Qwiic ICM20948 device isn't connected to the system. Please check your connection", \
			file=sys.stderr)
		return

	IMU.begin()

	while True:
		if IMU.dataReady():
			IMU.getAgmt() # read all axis and temp from sensor, note this also updates all instance variables
			print(\
			 '{: 06d}'.format(IMU.axRaw)\
			, '\t', '{: 06d}'.format(IMU.ayRaw)\
			, '\t', '{: 06d}'.format(IMU.azRaw)\
			, '\t', '{: 06d}'.format(IMU.gxRaw)\
			, '\t', '{: 06d}'.format(IMU.gyRaw)\
			, '\t', '{: 06d}'.format(IMU.gzRaw)\
			, '\t', '{: 06d}'.format(IMU.mxRaw)\
			, '\t', '{: 06d}'.format(IMU.myRaw)\
			, '\t', '{: 06d}'.format(IMU.mzRaw)\
			)
			time.sleep(0.03)
		else:
			print("Waiting for data")
			time.sleep(0.5)

if __name__ == '__main__':
	try:
		runExample()
	except (KeyboardInterrupt, SystemExit) as exErr:
		print("\nEnding Example 1")
		sys.exit(0)

from __future__ import print_function
import qwiic_icm20948
import time
import sys

def runExample():

	print("\nSparkFun 9DoF ICM-20948 Sensor  Example 1\n")
	IMU = qwiic_icm20948.QwiicIcm20948()

	if IMU.connected == False:
		print("The Qwiic ICM20948 device isn't connected to the system. Please check your connection", \
			file=sys.stderr)
		return

	IMU.begin()

	while True:
		if IMU.dataReady():
			IMU.getAgmt() # read all axis and temp from sensor, note this also updates all instance variables
			print(\
			 '{: 06d}'.format(IMU.axRaw)\
			, '\t', '{: 06d}'.format(IMU.ayRaw)\
			, '\t', '{: 06d}'.format(IMU.azRaw)\
			, '\t', '{: 06d}'.format(IMU.gxRaw)\
			, '\t', '{: 06d}'.format(IMU.gyRaw)\
			, '\t', '{: 06d}'.format(IMU.gzRaw)\
			, '\t', '{: 06d}'.format(IMU.mxRaw)\
			, '\t', '{: 06d}'.format(IMU.myRaw)\
			, '\t', '{: 06d}'.format(IMU.mzRaw)\
			)
			time.sleep(0.03)
		else:
			print("Waiting for data")
			time.sleep(0.5)

if __name__ == '__main__':
	try:
		runExample()
	except (KeyboardInterrupt, SystemExit) as exErr:
		print("\nEnding Example 1")
		sys.exit(0)
# read all axis and temp from sensor, note this also updates all instance variables