sensor prototype raspberry

#import smbus

class ITG3200:
	""" ITG3200 modulo para uso em raspberrypi"""
#constants
__DEV_ADDR0__	= 0x68	
__WHO_AM_I__ = 0
__SMPLRT_DIV__ 	= 0x15
__DLPF_FS__ 	= 0x16
__INT_CFG__ 	= 0x17
__INT_STATUS__ 	= 0x1A
__TEMP_OUT_H__ 	= 0x1B
__TEMP_OUT_L__ 	= 0x1C
__GYRO_XOUT_H__	= 0x1D
__GYRO_XOUT_L__	= 0x1E
__GYRO_YOUT_H__	= 0x1F
__GYRO_YOUT_L__	= 0x20
__GYRO_ZOUT_H__ = 0x21
__GYRO_ZOUT_L__ = 0x22
__PWR_MGM__		= 0x3E
__BUS_NUMBER__	= 0 #Dependendo do modelo você modifica aqui!!
	
	def __init__(self):
        """ Sensor class constructor"""
        self.bus = smbus.SMBus(__BUS_NUMBER__)
        self.addr = __DEV_ADDR0__
       	self.sampleRate(0x07) # sample rate will be 125Hz, 8ms
        self.lowPass(0x01) # 188Hz Low Pass Bandwidth
        
    def sampleRate(self, sample):
        if(!sample):
            return self.bus.read_word_data(self.addr, __SMPLRT_DIV__)
        else:
            try:
            	self.bus.write_byte_data(self.addr, __SMPLRT_DIV__, sample)
            except ErroDeEscritaDoSampleRate:
                print("Erro na escrita do sample! :(")
  			return True
       
    def whoAmI(self, result):
        if(!address):
            return self.bus.read_word_data(self.addr, __WHO_AM_I__)
        else:
            try:
                self.bus.write_byte_data(self.addr, __WHO_AM_I__, result)
            except ErroDeEscritaDoWhoAmI:
                print("Erro na escrita do Who Am I! :(")
            return True
    def lowPass(self, scale):
        """ O low pass filter pode ter os seguintes valores:
        Value 	- LowPass Band 	- Internal sampe Rate
        0 		- 256Hz 		- 8kHz
        1 		- 188Hz 		- 1kHz
        2 		- 98Hz  		- 1kHz
        3 		- 42Hz  		- 1kHz
        4 		- 20Hz  		- 1kHz
        5 		- 10Hz  		- 1kHZ
        6 		- 5Hz   		- 1kHZ 
        """
        
        self.bus.write_byte_data(self.addr, __DLPF_FS__, (0x18 | scale))
        return True
    def ReadGyroX(self):
        x_H = self.bus.read_word_data(self.addr, __GYRO_XOUT_H__)
        x_L = self.bus.read_word_data(self.addr, __GYRO_XOUT_L__)
        x_Joined = ((x_H << 8) | (x_L << 2))
        return x_Joined
    
    def ReadGyroY(self):
        y_H = self.bus.read_word_data(self.addr, __GYRO_YOUT_H__)
        y_L = self.bus.read_word_data(self.addr, __GYRO_YOUT_L__)
        y_Joined = ((y_H << 8) | (y_L << 2))  
        return y_Joined

def ReadGyroZ(self):
        z_H = self.bus.read_word_data(self.addr, __GYRO_ZOUT_H__)
        z_L = self.bus.read_word_data(self.addr, __GYRO_ZOUT_L__)
        z_Joined = ((z_H << 8) | (z_L << 2))
        return x_Joined

#https://github.com/beli-sk/IMU_sensors/blob/master/itg3200.py

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