[PXCT-768] Modulino Movement Gyroscope readings (#29)

* AddedGyro

* Added Gyro to Basic

* Added more accurate terminology

roll, pitch, yaw

* Update api.md

Added info on the movement modulino for angular velocity

Author: pedromsousalima

docs/api.md

@@ -116,6 +116,15 @@ Represents a Modulino Movement module.
 - **`float getZ()`**  
   Returns the Z-axis acceleration.
 
+- **`float getRoll()`**
+  Returns the angular velocity around X-axis.
+
+- **`float getPitch()`**
+  Returns the angular velocity around Y-axis.
+
+- **`float getYaw()`**
+  Returns the angular velocity around Z-axis.
+
 ---
 
 ### ModulinoThermo

examples/Modulino_Movement/Movement_Basic/Movement_Basic.ino

@@ -11,9 +11,10 @@
 // Create a ModulinoMovement
 ModulinoMovement movement;
 
-float x;
-float y;
-float z;
+
+float x, y, z;
+float roll, pitch, yaw;
+
 
 void setup() {
   Serial.begin(9600);
@@ -24,19 +25,34 @@ void setup() {
 }
 
 void loop() {
-  // Read new acceleration data from the sensor
+  // Read new movement data from the sensor
   movement.update();
 
-  // Get the acceleration values for each axis (in Gs)
+  // Get acceleration and gyroscope values
   x = movement.getX();
   y = movement.getY();
   z = movement.getZ();
+  roll = movement.getRoll();
+  pitch = movement.getPitch();
+  yaw = movement.getYaw();
 
-  Serial.print("Movement data: ");
-  Serial.print("x ");
+  // Print acceleration values
+  Serial.print("A: ");
   Serial.print(x, 3);
-  Serial.print("	y ");
+  Serial.print(", ");
   Serial.print(y, 3);
-  Serial.print("	z ");
-  Serial.println(z, 3);
+  Serial.print(", ");
+  Serial.print(z, 3);
+  
+  // Print divider between acceleration and gyroscope
+  Serial.print(" | G: ");
+  
+  // Print gyroscope values
+  Serial.print(roll, 1);
+  Serial.print(", ");
+  Serial.print(pitch, 1);
+  Serial.print(", ");
+  Serial.println(yaw, 1);
+  
+  delay(200);
 }

src/Modulino.h

@@ -313,13 +313,15 @@ class ModulinoMovement : public Module {
   }
   int update() {
     if (initialized) {
-      return _imu->readAcceleration(x, y, z);
+      int accel = _imu->readAcceleration(x, y, z);
+      int gyro = _imu->readGyroscope(roll, pitch, yaw);
+      return accel && gyro;
     }
     return 0;
   }
   int available() {
     if (initialized) {
-      return _imu->accelerationAvailable();
+      return _imu->accelerationAvailable() && _imu->gyroscopeAvailable();
     }
     return 0;
   }
@@ -332,9 +334,19 @@ class ModulinoMovement : public Module {
   float getZ() {
     return z;
   }
+  float getRoll() {
+    return roll;
+  }
+  float getPitch() {
+    return pitch;
+  }
+  float getYaw() {
+    return yaw;
+  }
 private:
   LSM6DSOXClass* _imu = nullptr;
   float x,y,z;
+  float roll,pitch,yaw; //gx, gy, gz
   int initialized = 0;
 };