.. highlight:: java

Gyro
====
As previously mentioned, the `BMI160 <https://ae-bst.resource.bosch.com/media/_tech/media/datasheets/BST-BMI160-DS000-07.pdf>`_ is a 6-axis IMU that has 
both an accelerometer and gyroscope.  The gyro sensor on this device is represented by the 
`GyroBmi160 <https://mbientlab.com/docs/metawear/android/3/com/mbientlab/metawear/module/GyroBmi160.html>`_ interface and uses the Coriolis effect to 
measure angular velocity .

::

    import com.mbientlab.metawear.module.GyroBmi160;

    final GyroBmi160 gyroBmi160 = board.getModule(GyroBmi160.class);

Configuration
-------------
Like the accelerometer, the gyro also has a configurable output data rate and range.  Use the gyro's 
`ConfigEditor <https://mbientlab.com/docs/metawear/android/3/com/mbientlab/metawear/module/GyroBmi160.ConfigEditor.html>`_. to set these parameters.

::

    import com.mbientlab.metawear.module.GyroBmi160.Range;
    import com.mbientlab.metawear.module.GyroBmi160.OutputDataRate;

    // set the data rat to 50Hz and the 
    // data range to +/- 2000 degrees/s
    gyroBmi160.configure()
            .odr(OutputDataRate.ODR_50_HZ)
            .range(Range.FSR_2000)
            .commit();

Angular Velocity Data
---------------------
To retrieve angular velocity data, add a data route to the async data producer returned by the 
`angularVelocity <https://mbientlab.com/docs/metawear/android/3/com/mbientlab/metawear/module/GyroBmi160.html#angularVelocity-->`_ function.  
Data values from that async producer are represented by the 
`AngularVelocity <https://mbientlab.com/docs/metawear/android/3/com/mbientlab/metawear/data/AngularVelocity.html>`_ class.

::

    gyroBmi160.angularVelocity().addRouteAsync(new RouteBuilder() {
        @Override
        public void configure(RouteComponent source) {
            source.stream(new Subscriber() {
                @Override
                public void apply(Data data, Object ... env) {
                    Log.i("MainActivity", data.value(AngularVelocity.class).toString());
                }
            });
        }
    }).continueWith(new Continuation<Route, Void>() {
        @Override
        public Void then(Task<Route> task) throws Exception {
            gyroBmi160.angularVelocity();
            gyroBmi160.start();
            return null;
        }
    });