From c2fa25c5be039445018985fbc89e6a90ce3508ef Mon Sep 17 00:00:00 2001
From: Allex Oliveira <allex.oliveira@yahoo.com.br>
Date: Tue, 6 Aug 2019 18:22:54 +0200
Subject: [PATCH 1/4] Driver to sensor MPU6050 accelerometer/gyroscope

---
 .../instance/devices.st                       |  3 ++-
 .../.filetree                                 |  5 +++++
 .../PotMPU6050Device.class/README.md          | 19 +++++++++++++++++++
 .../class/defaultI2CAddress.st                |  3 +++
 .../instance/calculateDistanceA.B..st         |  3 +++
 .../instance/calculateRotationX.Y.Z..st       |  8 ++++++++
 .../instance/connect.st                       |  4 ++++
 .../instance/readAccelerometer.st             |  7 +++++++
 .../instance/readAccelerometerSkaliert.st     |  8 ++++++++
 .../instance/readGyroscope.st                 |  7 +++++++
 .../instance/readGyroscopeSkaliert.st         |  8 ++++++++
 .../instance/readRegisters..st                |  7 +++++++
 .../instance/readRegisters2C..st              |  7 +++++++
 .../instance/readRotationXY.st                |  8 ++++++++
 .../PotMPU6050Device.class/properties.json    | 11 +++++++++++
 .../monticello.meta/categories.st             |  1 +
 .../monticello.meta/initializers.st           |  0
 .../monticello.meta/package                   |  1 +
 .../properties.json                           |  1 +
 19 files changed, 110 insertions(+), 1 deletion(-)
 create mode 100644 src/PharoThings-Devices-MPU6050.package/.filetree
 create mode 100644 src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/README.md
 create mode 100644 src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/class/defaultI2CAddress.st
 create mode 100644 src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/instance/calculateDistanceA.B..st
 create mode 100644 src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/instance/calculateRotationX.Y.Z..st
 create mode 100644 src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/instance/connect.st
 create mode 100644 src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/instance/readAccelerometer.st
 create mode 100644 src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/instance/readAccelerometerSkaliert.st
 create mode 100644 src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/instance/readGyroscope.st
 create mode 100644 src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/instance/readGyroscopeSkaliert.st
 create mode 100644 src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/instance/readRegisters..st
 create mode 100644 src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/instance/readRegisters2C..st
 create mode 100644 src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/instance/readRotationXY.st
 create mode 100644 src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/properties.json
 create mode 100644 src/PharoThings-Devices-MPU6050.package/monticello.meta/categories.st
 create mode 100644 src/PharoThings-Devices-MPU6050.package/monticello.meta/initializers.st
 create mode 100644 src/PharoThings-Devices-MPU6050.package/monticello.meta/package
 create mode 100644 src/PharoThings-Devices-MPU6050.package/properties.json

diff --git a/src/BaselineOfPharoThings.package/BaselineOfPharoThings.class/instance/devices.st b/src/BaselineOfPharoThings.package/BaselineOfPharoThings.class/instance/devices.st
index 3c1634e..73facd8 100644
--- a/src/BaselineOfPharoThings.package/BaselineOfPharoThings.class/instance/devices.st
+++ b/src/BaselineOfPharoThings.package/BaselineOfPharoThings.class/instance/devices.st
@@ -9,5 +9,6 @@ devices
 		#'PharoThings-Devices-ADXL345' -> #(#'PharoThings-Devices-I2C').
 		#'PharoThings-Devices-MCP9808' -> #(#'PharoThings-Devices-I2C').
 		#'PharoThings-Devices-BME280' -> #(#'PharoThings-Devices-I2C').
-		#'PharoThings-Devices-HD44780' -> #(#'PharoThings-Devices-I2C')
+		#'PharoThings-Devices-HD44780' -> #(#'PharoThings-Devices-I2C').
+		#'PharoThings-Devices-MPU6050' -> #(#'PharoThings-Devices-I2C')
 	}
\ No newline at end of file
diff --git a/src/PharoThings-Devices-MPU6050.package/.filetree b/src/PharoThings-Devices-MPU6050.package/.filetree
new file mode 100644
index 0000000..57a6797
--- /dev/null
+++ b/src/PharoThings-Devices-MPU6050.package/.filetree
@@ -0,0 +1,5 @@
+{
+	"separateMethodMetaAndSource" : false,
+	"noMethodMetaData" : true,
+	"useCypressPropertiesFile" : true
+}
\ No newline at end of file
diff --git a/src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/README.md b/src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/README.md
new file mode 100644
index 0000000..21f4ca7
--- /dev/null
+++ b/src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/README.md
@@ -0,0 +1,19 @@
+I provide implementation of Gyroscope/Accelerator I2C sensor MPU6050.
+
+The code for initialization and sensors reading is based from example:
+	https://tutorials-raspberrypi.com/measuring-rotation-and-acceleration-raspberry-pi/
+
+Register map:
+	https://www.i2cdevlib.com/devices/mpu6050#registers
+
+To use it: 
+sensor := (RpiBoard3B current) installDevice: PotMPU6050Device new.
+or on inspector:
+sensor := board installDevice: PotMPU6050Device new.
+
+API:
+readGyroscope. "#(1540 -9 -211)"
+readGyroscopeSkaliert. "#(13.526718 -1.916031 -1.526718)"
+readAccelerometer. "#(748 -892 15676)"
+readAccelerometerSkaliert. "#(0.033691 -0.051025 0.974121)"
+readRotationXY. "#(-3.224775339993247 -2.4755961852044157)"
\ No newline at end of file
diff --git a/src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/class/defaultI2CAddress.st b/src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/class/defaultI2CAddress.st
new file mode 100644
index 0000000..7e7c828
--- /dev/null
+++ b/src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/class/defaultI2CAddress.st
@@ -0,0 +1,3 @@
+instance creation
+defaultI2CAddress
+	^16r68
\ No newline at end of file
diff --git a/src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/instance/calculateDistanceA.B..st b/src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/instance/calculateDistanceA.B..st
new file mode 100644
index 0000000..c982957
--- /dev/null
+++ b/src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/instance/calculateDistanceA.B..st
@@ -0,0 +1,3 @@
+controlling
+calculateDistanceA: anAccelerometerSkaliertA B: anAccelerometerSkaliertB
+	^ ((anAccelerometerSkaliertA*anAccelerometerSkaliertA)+(anAccelerometerSkaliertB*anAccelerometerSkaliertB)) sqrt
\ No newline at end of file
diff --git a/src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/instance/calculateRotationX.Y.Z..st b/src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/instance/calculateRotationX.Y.Z..st
new file mode 100644
index 0000000..31113eb
--- /dev/null
+++ b/src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/instance/calculateRotationX.Y.Z..st
@@ -0,0 +1,8 @@
+controlling
+calculateRotationX: anAccelerometerSkaliertX Y: anAccelerometerSkaliertY Z: anAccelerometerSkaliertZ
+	| radiansX radiansY rotationX rotationY |
+	radiansX := anAccelerometerSkaliertY arcTan: (self calculateDistanceA: anAccelerometerSkaliertX B: anAccelerometerSkaliertZ).
+	radiansY := anAccelerometerSkaliertX arcTan: (self calculateDistanceA: anAccelerometerSkaliertY B: anAccelerometerSkaliertZ).	
+	rotationX := radiansX radiansToDegrees.
+	rotationY := radiansY radiansToDegrees * -1.
+	^ { rotationX . rotationY }
\ No newline at end of file
diff --git a/src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/instance/connect.st b/src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/instance/connect.st
new file mode 100644
index 0000000..f4e2551
--- /dev/null
+++ b/src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/instance/connect.st
@@ -0,0 +1,4 @@
+controlling
+connect
+	super connect
+	
diff --git a/src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/instance/readAccelerometer.st b/src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/instance/readAccelerometer.st
new file mode 100644
index 0000000..c6a110f
--- /dev/null
+++ b/src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/instance/readAccelerometer.st
@@ -0,0 +1,7 @@
+controlling
+readAccelerometer
+	| accX accY accZ |
+	accX := self readRegisters2C: 16r3b.
+	accY := self readRegisters2C: 16r3d.
+	accZ := self readRegisters2C: 16r3f.
+	^ { accX . accY . accZ }
\ No newline at end of file
diff --git a/src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/instance/readAccelerometerSkaliert.st b/src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/instance/readAccelerometerSkaliert.st
new file mode 100644
index 0000000..bcfb3db
--- /dev/null
+++ b/src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/instance/readAccelerometerSkaliert.st
@@ -0,0 +1,8 @@
+controlling
+readAccelerometerSkaliert
+	| acc accX accY accZ |
+	acc := self readAccelerometer.
+	accX := ((acc at: 1)/16384) asFloat round: 6.
+	accY := ((acc at: 2)/16384) asFloat round: 6.
+	accZ := ((acc at: 3)/16384) asFloat round: 6.
+	^ { accX . accY . accZ }
\ No newline at end of file
diff --git a/src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/instance/readGyroscope.st b/src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/instance/readGyroscope.st
new file mode 100644
index 0000000..904c66f
--- /dev/null
+++ b/src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/instance/readGyroscope.st
@@ -0,0 +1,7 @@
+controlling
+readGyroscope
+	| gyroX gyroY gyroZ |
+	gyroX := self readRegisters2C: 16r43.
+	gyroY := self readRegisters2C: 16r45.
+	gyroZ := self readRegisters2C: 16r47.
+	^ { gyroX . gyroY . gyroZ }
\ No newline at end of file
diff --git a/src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/instance/readGyroscopeSkaliert.st b/src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/instance/readGyroscopeSkaliert.st
new file mode 100644
index 0000000..e4cd8a7
--- /dev/null
+++ b/src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/instance/readGyroscopeSkaliert.st
@@ -0,0 +1,8 @@
+controlling
+readGyroscopeSkaliert
+	| gyro gyroX gyroY gyroZ |
+	gyro := self readGyroscope.
+	gyroX := (gyro at: 1)/131 asFloat round: 6.
+	gyroY := (gyro at: 2)/131 asFloat round: 6.
+	gyroZ := (gyro at: 3)/131 asFloat round: 6.
+	^ { gyroX . gyroY . gyroZ }
\ No newline at end of file
diff --git a/src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/instance/readRegisters..st b/src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/instance/readRegisters..st
new file mode 100644
index 0000000..4cf95e0
--- /dev/null
+++ b/src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/instance/readRegisters..st
@@ -0,0 +1,7 @@
+controlling
+readRegisters: anHex
+	| h l value |
+	h := i2cConnection read8BitsAt: anHex.
+	l := i2cConnection read8BitsAt: anHex + 1.
+	value := (h bitShift: 8) + l.
+	^ value
\ No newline at end of file
diff --git a/src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/instance/readRegisters2C..st b/src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/instance/readRegisters2C..st
new file mode 100644
index 0000000..6415e7f
--- /dev/null
+++ b/src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/instance/readRegisters2C..st
@@ -0,0 +1,7 @@
+controlling
+readRegisters2C: anHex
+	| value  |
+	value := self readRegisters: anHex.
+	value >= 16r8000
+		ifTrue: [ ^ ((65535 - value) + 1) * -1]
+		ifFalse: [^ value ]
\ No newline at end of file
diff --git a/src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/instance/readRotationXY.st b/src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/instance/readRotationXY.st
new file mode 100644
index 0000000..55b0904
--- /dev/null
+++ b/src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/instance/readRotationXY.st
@@ -0,0 +1,8 @@
+controlling
+readRotationXY
+	| accelerometerSkaliert rotation rotationX rotationY |
+	accelerometerSkaliert := self readAccelerometerSkaliert.
+	rotation := self calculateRotationX: (accelerometerSkaliert at: 1) Y: (accelerometerSkaliert at: 2) Z: (accelerometerSkaliert at: 3).
+	rotationX := rotation at: 1.
+	rotationY := rotation at: 2.
+	^ { rotationX . rotationY }
\ No newline at end of file
diff --git a/src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/properties.json b/src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/properties.json
new file mode 100644
index 0000000..cec8529
--- /dev/null
+++ b/src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/properties.json
@@ -0,0 +1,11 @@
+{
+	"commentStamp" : "AllexOliveira 8/6/2019 17:51",
+	"super" : "PotI2CDevice",
+	"category" : "PharoThings-Devices-MPU6050",
+	"classinstvars" : [ ],
+	"pools" : [ ],
+	"classvars" : [ ],
+	"instvars" : [ ],
+	"name" : "PotMPU6050Device",
+	"type" : "normal"
+}
\ No newline at end of file
diff --git a/src/PharoThings-Devices-MPU6050.package/monticello.meta/categories.st b/src/PharoThings-Devices-MPU6050.package/monticello.meta/categories.st
new file mode 100644
index 0000000..66e7f4c
--- /dev/null
+++ b/src/PharoThings-Devices-MPU6050.package/monticello.meta/categories.st
@@ -0,0 +1 @@
+SystemOrganization addCategory: #'PharoThings-Devices-MPU6050'!
diff --git a/src/PharoThings-Devices-MPU6050.package/monticello.meta/initializers.st b/src/PharoThings-Devices-MPU6050.package/monticello.meta/initializers.st
new file mode 100644
index 0000000..e69de29
diff --git a/src/PharoThings-Devices-MPU6050.package/monticello.meta/package b/src/PharoThings-Devices-MPU6050.package/monticello.meta/package
new file mode 100644
index 0000000..b84f9fd
--- /dev/null
+++ b/src/PharoThings-Devices-MPU6050.package/monticello.meta/package
@@ -0,0 +1 @@
+(name 'PharoThings-Devices-MPU6050')
\ No newline at end of file
diff --git a/src/PharoThings-Devices-MPU6050.package/properties.json b/src/PharoThings-Devices-MPU6050.package/properties.json
new file mode 100644
index 0000000..6f31cf5
--- /dev/null
+++ b/src/PharoThings-Devices-MPU6050.package/properties.json
@@ -0,0 +1 @@
+{ }
\ No newline at end of file

From 5636973ce23900dfe6dfe93b02e5f86fc22b04c0 Mon Sep 17 00:00:00 2001
From: Allex Oliveira <allex.oliveira@yahoo.com.br>
Date: Wed, 7 Aug 2019 11:04:15 +0200
Subject: [PATCH 2/4] Changed the word 'skaliert' to 'scaled'

---
 .../instance/calculateDistanceA.B..st                       | 4 ++--
 .../instance/calculateRotationX.Y.Z..st                     | 6 +++---
 ...dAccelerometerSkaliert.st => readAccelerometerScaled.st} | 2 +-
 .../{readGyroscopeSkaliert.st => readGyroscopeScaled.st}    | 2 +-
 .../PotMPU6050Device.class/instance/readRotationXY.st       | 6 +++---
 5 files changed, 10 insertions(+), 10 deletions(-)
 rename src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/instance/{readAccelerometerSkaliert.st => readAccelerometerScaled.st} (90%)
 rename src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/instance/{readGyroscopeSkaliert.st => readGyroscopeScaled.st} (91%)

diff --git a/src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/instance/calculateDistanceA.B..st b/src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/instance/calculateDistanceA.B..st
index c982957..8a1ba48 100644
--- a/src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/instance/calculateDistanceA.B..st
+++ b/src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/instance/calculateDistanceA.B..st
@@ -1,3 +1,3 @@
 controlling
-calculateDistanceA: anAccelerometerSkaliertA B: anAccelerometerSkaliertB
-	^ ((anAccelerometerSkaliertA*anAccelerometerSkaliertA)+(anAccelerometerSkaliertB*anAccelerometerSkaliertB)) sqrt
\ No newline at end of file
+calculateDistanceA: anAccelerometerScaledA B: anAccelerometerScaledB
+	^ ((anAccelerometerScaledA*anAccelerometerScaledA)+(anAccelerometerScaledB*anAccelerometerScaledB)) sqrt
\ No newline at end of file
diff --git a/src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/instance/calculateRotationX.Y.Z..st b/src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/instance/calculateRotationX.Y.Z..st
index 31113eb..28edfdd 100644
--- a/src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/instance/calculateRotationX.Y.Z..st
+++ b/src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/instance/calculateRotationX.Y.Z..st
@@ -1,8 +1,8 @@
 controlling
-calculateRotationX: anAccelerometerSkaliertX Y: anAccelerometerSkaliertY Z: anAccelerometerSkaliertZ
+calculateRotationX: anAccelerometerScaledX Y: anAccelerometerScaledY Z: anAccelerometerScaledZ
 	| radiansX radiansY rotationX rotationY |
-	radiansX := anAccelerometerSkaliertY arcTan: (self calculateDistanceA: anAccelerometerSkaliertX B: anAccelerometerSkaliertZ).
-	radiansY := anAccelerometerSkaliertX arcTan: (self calculateDistanceA: anAccelerometerSkaliertY B: anAccelerometerSkaliertZ).	
+	radiansX := anAccelerometerScaledY arcTan: (self calculateDistanceA: anAccelerometerScaledX B: anAccelerometerScaledZ).
+	radiansY := anAccelerometerScaledX arcTan: (self calculateDistanceA: anAccelerometerScaledY B: anAccelerometerScaledZ).	
 	rotationX := radiansX radiansToDegrees.
 	rotationY := radiansY radiansToDegrees * -1.
 	^ { rotationX . rotationY }
\ No newline at end of file
diff --git a/src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/instance/readAccelerometerSkaliert.st b/src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/instance/readAccelerometerScaled.st
similarity index 90%
rename from src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/instance/readAccelerometerSkaliert.st
rename to src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/instance/readAccelerometerScaled.st
index bcfb3db..6b15381 100644
--- a/src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/instance/readAccelerometerSkaliert.st
+++ b/src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/instance/readAccelerometerScaled.st
@@ -1,5 +1,5 @@
 controlling
-readAccelerometerSkaliert
+readAccelerometerScaled
 	| acc accX accY accZ |
 	acc := self readAccelerometer.
 	accX := ((acc at: 1)/16384) asFloat round: 6.
diff --git a/src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/instance/readGyroscopeSkaliert.st b/src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/instance/readGyroscopeScaled.st
similarity index 91%
rename from src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/instance/readGyroscopeSkaliert.st
rename to src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/instance/readGyroscopeScaled.st
index e4cd8a7..ec8b617 100644
--- a/src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/instance/readGyroscopeSkaliert.st
+++ b/src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/instance/readGyroscopeScaled.st
@@ -1,5 +1,5 @@
 controlling
-readGyroscopeSkaliert
+readGyroscopeScaled
 	| gyro gyroX gyroY gyroZ |
 	gyro := self readGyroscope.
 	gyroX := (gyro at: 1)/131 asFloat round: 6.
diff --git a/src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/instance/readRotationXY.st b/src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/instance/readRotationXY.st
index 55b0904..35b8ea4 100644
--- a/src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/instance/readRotationXY.st
+++ b/src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/instance/readRotationXY.st
@@ -1,8 +1,8 @@
 controlling
 readRotationXY
-	| accelerometerSkaliert rotation rotationX rotationY |
-	accelerometerSkaliert := self readAccelerometerSkaliert.
-	rotation := self calculateRotationX: (accelerometerSkaliert at: 1) Y: (accelerometerSkaliert at: 2) Z: (accelerometerSkaliert at: 3).
+	| accelerometerScaled rotation rotationX rotationY |
+	accelerometerScaled := self readAccelerometerScaled.
+	rotation := self calculateRotationX: (accelerometerScaled at: 1) Y: (accelerometerScaled at: 2) Z: (accelerometerScaled at: 3).
 	rotationX := rotation at: 1.
 	rotationY := rotation at: 2.
 	^ { rotationX . rotationY }
\ No newline at end of file

From db4d399bdffe0a6334892d339e83f9eb8ae2edce Mon Sep 17 00:00:00 2001
From: Allex Oliveira <allex.oliveira@yahoo.com.br>
Date: Wed, 7 Aug 2019 12:09:22 +0200
Subject: [PATCH 3/4] initializing with wakeUpSensor method

---
 .../PotMPU6050Device.class/instance/connect.st                 | 3 ++-
 .../PotMPU6050Device.class/instance/wakeUpSensor.st            | 3 +++
 2 files changed, 5 insertions(+), 1 deletion(-)
 create mode 100644 src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/instance/wakeUpSensor.st

diff --git a/src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/instance/connect.st b/src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/instance/connect.st
index f4e2551..7da32b0 100644
--- a/src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/instance/connect.st
+++ b/src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/instance/connect.st
@@ -1,4 +1,5 @@
 controlling
 connect
-	super connect
+	super connect.
+	self wakeUpSensor 
 	
diff --git a/src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/instance/wakeUpSensor.st b/src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/instance/wakeUpSensor.st
new file mode 100644
index 0000000..73cc413
--- /dev/null
+++ b/src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/instance/wakeUpSensor.st
@@ -0,0 +1,3 @@
+controlling
+wakeUpSensor
+	i2cConnection write8BitsAt: 16r6b data: 0
\ No newline at end of file

From b64f8058fc9daf6d85e15d39a17182fe6509ba8f Mon Sep 17 00:00:00 2001
From: Allex Oliveira <allex.oliveira@yahoo.com.br>
Date: Thu, 8 Aug 2019 10:58:40 +0200
Subject: [PATCH 4/4] waking up the sensor while reading the registers

---
 .../PotMPU6050Device.class/README.md                       | 7 ++++++-
 .../PotMPU6050Device.class/instance/readRegisters..st      | 4 ++++
 .../PotMPU6050Device.class/properties.json                 | 6 ++++--
 3 files changed, 14 insertions(+), 3 deletions(-)

diff --git a/src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/README.md b/src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/README.md
index 21f4ca7..d354b58 100644
--- a/src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/README.md
+++ b/src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/README.md
@@ -16,4 +16,9 @@ readGyroscope. "#(1540 -9 -211)"
 readGyroscopeSkaliert. "#(13.526718 -1.916031 -1.526718)"
 readAccelerometer. "#(748 -892 15676)"
 readAccelerometerSkaliert. "#(0.033691 -0.051025 0.974121)"
-readRotationXY. "#(-3.224775339993247 -2.4755961852044157)"
\ No newline at end of file
+readRotationXY. "#(-3.224775339993247 -2.4755961852044157)"
+
+sensor := (RpiBoard3B current) installDevice: PotMPU6050Device new.
+sensor readRollPitchYaw
+sensor printRollPitchYaw.
+sensor finishRollPitchYaw.
\ No newline at end of file
diff --git a/src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/instance/readRegisters..st b/src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/instance/readRegisters..st
index 4cf95e0..cac92b7 100644
--- a/src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/instance/readRegisters..st
+++ b/src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/instance/readRegisters..st
@@ -3,5 +3,9 @@ readRegisters: anHex
 	| h l value |
 	h := i2cConnection read8BitsAt: anHex.
 	l := i2cConnection read8BitsAt: anHex + 1.
+	(h == 0 & l == 0)
+		ifTrue: [ self wakeUpSensor. 1 milliSeconds wait.
+			h := i2cConnection read8BitsAt: anHex.
+			l := i2cConnection read8BitsAt: anHex + 1 ].
 	value := (h bitShift: 8) + l.
 	^ value
\ No newline at end of file
diff --git a/src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/properties.json b/src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/properties.json
index cec8529..f7f8722 100644
--- a/src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/properties.json
+++ b/src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/properties.json
@@ -1,11 +1,13 @@
 {
-	"commentStamp" : "AllexOliveira 8/6/2019 17:51",
+	"commentStamp" : "AllexOliveira 8/7/2019 18:28",
 	"super" : "PotI2CDevice",
 	"category" : "PharoThings-Devices-MPU6050",
 	"classinstvars" : [ ],
 	"pools" : [ ],
 	"classvars" : [ ],
-	"instvars" : [ ],
+	"instvars" : [
+		"readProcess"
+	],
 	"name" : "PotMPU6050Device",
 	"type" : "normal"
 }
\ No newline at end of file