From b787e0060dcbad8b51872a67cf3edd014649d271 Mon Sep 17 00:00:00 2001
From: jposada202020 <jquintana202020@gmail.com>
Date: Sat, 8 May 2021 00:44:38 -0400
Subject: [PATCH 1/2] correcting_measurement_units

---
 adafruit_l3gd20.py            |  2 +-
 examples/l3gd20_simpletest.py | 11 ++++++++++-
 2 files changed, 11 insertions(+), 2 deletions(-)

diff --git a/adafruit_l3gd20.py b/adafruit_l3gd20.py
index b3e1d79..0afd48d 100644
--- a/adafruit_l3gd20.py
+++ b/adafruit_l3gd20.py
@@ -364,7 +364,7 @@ def read_bytes(self, register, buffer):
 
     @property
     def gyro_raw(self):
-        """Gives the raw gyro readings, in units of rad/s."""
+        """Gives the dynamic rate raw gyro readings, in units of DPS."""
         buffer = self._spi_bytearray6
         self.read_bytes(_L3GD20_REGISTER_OUT_X_L_X40, buffer)
         return unpack("<hhh", buffer)
diff --git a/examples/l3gd20_simpletest.py b/examples/l3gd20_simpletest.py
index f4cb4e2..5f7de21 100644
--- a/examples/l3gd20_simpletest.py
+++ b/examples/l3gd20_simpletest.py
@@ -1,6 +1,7 @@
 # SPDX-FileCopyrightText: 2021 ladyada for Adafruit Industries
 # SPDX-License-Identifier: MIT
 
+import math
 import time
 import board
 import adafruit_l3gd20
@@ -38,6 +39,14 @@
 # )
 
 while True:
-    print("Angular Momentum (rad/s): {}".format(SENSOR.gyro))
+    value_DPS = SENSOR.gyro
+    value_rds = (
+        SENSOR.gyro[0] * math.pi / 180,
+        SENSOR.gyro[1] * math.pi / 180,
+        SENSOR.gyro[2] * math.pi / 180,
+    )
+    print("Dynamic Range (DPS): {}".format(value_DPS))
+    print("-------------------------------------------------------------")
+    print("Angular Velocity (rad/s) {}".format(value_rds))
     print()
     time.sleep(1)

From 738ffe9f880c282fc5b987f83445ea115c7b7ad3 Mon Sep 17 00:00:00 2001
From: jposada202020 <jquintana202020@gmail.com>
Date: Sat, 8 May 2021 21:17:25 -0400
Subject: [PATCH 2/2] correcting_measurement_units

---
 adafruit_l3gd20.py            |  9 +++++----
 examples/l3gd20_simpletest.py | 11 +----------
 2 files changed, 6 insertions(+), 14 deletions(-)

diff --git a/adafruit_l3gd20.py b/adafruit_l3gd20.py
index 0afd48d..856921c 100644
--- a/adafruit_l3gd20.py
+++ b/adafruit_l3gd20.py
@@ -35,6 +35,7 @@
 __repo__ = "https://github.com/adafruit/Adafruit_CircuitPython_l3gd20.git"
 
 
+from math import radians
 from micropython import const
 from adafruit_register.i2c_struct import Struct
 
@@ -195,10 +196,10 @@ def __init__(self, rng=L3DS20_RANGE_250DPS, rate=L3DS20_RATE_100HZ):
     def gyro(self):
         """
         x, y, z angular momentum tuple floats, rescaled appropriately for
-        range selected
+        range selected in rad/s
         """
         raw = self.gyro_raw
-        return tuple(self.scale * v for v in raw)
+        return tuple(radians(self.scale * v) for v in raw)
 
 
 class L3GD20_I2C(L3GD20):
@@ -364,7 +365,7 @@ def read_bytes(self, register, buffer):
 
     @property
     def gyro_raw(self):
-        """Gives the dynamic rate raw gyro readings, in units of DPS."""
+        """Gives the dynamic rate raw gyro readings, in units rad/s."""
         buffer = self._spi_bytearray6
         self.read_bytes(_L3GD20_REGISTER_OUT_X_L_X40, buffer)
-        return unpack("<hhh", buffer)
+        return tuple(radians(x) for x in unpack("<hhh", buffer))
diff --git a/examples/l3gd20_simpletest.py b/examples/l3gd20_simpletest.py
index 5f7de21..f35e932 100644
--- a/examples/l3gd20_simpletest.py
+++ b/examples/l3gd20_simpletest.py
@@ -1,7 +1,6 @@
 # SPDX-FileCopyrightText: 2021 ladyada for Adafruit Industries
 # SPDX-License-Identifier: MIT
 
-import math
 import time
 import board
 import adafruit_l3gd20
@@ -39,14 +38,6 @@
 # )
 
 while True:
-    value_DPS = SENSOR.gyro
-    value_rds = (
-        SENSOR.gyro[0] * math.pi / 180,
-        SENSOR.gyro[1] * math.pi / 180,
-        SENSOR.gyro[2] * math.pi / 180,
-    )
-    print("Dynamic Range (DPS): {}".format(value_DPS))
-    print("-------------------------------------------------------------")
-    print("Angular Velocity (rad/s) {}".format(value_rds))
+    print("Angular Velocity (rad/s): {}".format(SENSOR.gyro))
     print()
     time.sleep(1)