#include "libschsat.h"

int control(){
	uint16_t num = 1;  	// Номер Датчика угловой скорости
	int16_t hyro_result[] = {0, 0, 0, 0};
	printf("Enable angular velocity sensor № %d", num); 
	hyro_turn_on(num); 						// Включаем ДУС
	Sleep (1);							//Ждем включения 1 секунду
	printf("\nGet RAW data from angular velocity sensor\n");
	
	int i;
	for (i = 0; i < 10; i++) { 		//Считываем показания 10 раз 
	hyro_result[0] = hyro_request_raw(num,& hyro_result[1],& hyro_result[2],& hyro_result[3]);
	
	if (!hyro_result[0])
		{
			printf("state: %d", i);
			printf(" x_raw = %d", hyro_result[1]);
			printf(" y_raw = %d", hyro_result[2]);
			printf(" z_raw = %d\n", hyro_result[3]);
			
		}
		else if (hyro_result[0] == 1)
		{
			printf("Fail because of access error, check the connection");
		}
		else if (hyro_result[0] == 2)
		{
			printf("Fail because of interface error, check your code");
		}
		Sleep(1);
		
	}	
	printf("\nDisable angular velocity sensor № %d\n", num);
	hyro_turn_off(num);	
	return 0;
}