gyro-test.rb

# gyro mesure test

serial = Serial.new
timer = SystemTimer.new
gyro = Gyro.new() ## Gyro.new(Port::XX) ?

# write csv header
serial.puts("time,gyro")

MESURE_COUNTS = 45 # mesure times

start_time = timer.now

cnt = 0
loop do
  mesure_sum = 0
  MESURE_COUNTS.times do
    mesure_sum += gyro.read(Gyro::Y)
  end

  omega_i = mesure_sum * 0.00875 / MESURE_COUNTS

#  if omega_i.abs < 2
#    omega_i = 0
#  end

  cnt +=1
  now = ((timer.now - start_time) / 1000).floor
  if cnt == 10
  	cnt = 0
    serial.puts("#{now},#{omega_i}")
  end
end