ran = 0.0875 offset = 40 x = 0 prev_x_av = 0 x0 = bus.read_byte_data(0x6b, 0x28) x1 = bus.read_byte_data(0x6b, 0x29) offset = -convertData(x0, x1) * ran while (1): x0 = bus.read_byte_data(0x6b, 0x28) x1 = bus.read_byte_data(0x6b, 0x29) y0 = bus.read_byte_data(0x6b, 0x2A) y1 = bus.read_byte_data(0x6b, 0x2B) z0 = bus.read_byte_data(0x6b, 0x2C) z1 = bus.read_byte_data(0x6b, 0x2D) #x_av = x[0] * ran #y_av = y[0] * ran #z_av = z[0] * ran x_av = convertData(x0, x1) * ran y_av = convertData(y0, y1) * ran + offset z_av = convertData(z0, z1) * ran + offset x = gkfx.calcAngle(x, x_av, dt) #x += (prev_x_av + x_av) * 0.1 / 2 #prev_x_av = x_av #print("x:{0:+06.2f} y:{0:+06.2f} z:{0:+06.2f}".format(x_av, y_av, z_av)) print(x) sleep(dt)