Help! Why Can't I Read Gyro Values Over the I2C Interface!

[Brindlefly]

Ok, now I am getting an output from the gyro but it changes only when you turn it and then it goes back to zero when it stops turning.

private I2C gyro = new I2C(I2C.Port.kOnboard, 0x68);
	
	protected void initialize () {
		gyro.write(0x6B, 0x03); // Power
		gyro.write(0x1A, 0x1B); // Basic Config
		gyro.write(0x1B, 0x18); // Gyro Config
	}
	
	protected void execute () {
		
		byte[] angle = new byte[1];
		gyro.read(0x47, 2, angle);
		
		double rotation = (angle[1] << 8) | angle[0];
		
		System.out.println("Rotation: " + rotation);
	}
	
	protected boolean isFinished () {
		return false;
	}
	
	protected void end () {
		
	}
	
	protected void interrupted () {
		end();
	}

[Brindlefly]

Ok now I am adding up the values from the gyro to get degrees, but when the robot turns in the positive direction the value shoots up to the thousands, and in the positive direction it goes to -3 max.

[Brindlefly]

Ok I just figured it out. Here is the code for anyone who is interested.

private static double degrees = 0;
	
	private I2C gyro = RobotMap.gyro;
	
	public GyroSensor () {
		gyro.write(0x6B, 0x03); // Power
		gyro.write(0x1A, 0x18); // Basic Config
		gyro.write(0x1B, 0x00); // Gyro Config
	}
	
	public double getDegrees (double deltaTime) {
		byte[] angle = new byte[1];
		gyro.read(0x47, 1, angle);
		
		double rotation = (angle[0] * deltaTime) * 2;
		
		degrees += rotation;
		
		return -degrees;
	}

[EricS-Team180]

Hey Thanks!
We were just looking for something like this <sweet>

[David Lame]

Bumping this year old thread to thank the authors. This came up on a google search, and it was part of what got me able to get my new mpu6050 working.