.. highlight:: csharp

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 
`IGyroBmi160 <http://mbientlab.com/docs/metawear/csharp/1/interfaceMbientLab_1_1MetaWear_1_1Sensor_1_1IGyroBmi160.html>`_ interface and uses the Coriolis effect to 
measure angular velocity .

::

    using MbientLab.MetaWear.Sensor;

    IGyroBmi160 gyro = metawear.GetModule<IGyroBmi160>();

Configuration
-------------
Like the accelerometer, the gyro also has a configurable output data rate and range.  Use the gyro's 
`Configure <http://mbientlab.com/docs/metawear/csharp/1/interfaceMbientLab_1_1MetaWear_1_1Sensor_1_1IGyroBmi160.html#a6ca3ad86c825672a108396958947b008>`_. method to set these parameters.

::

    using MbientLab.MetaWear.Sensor;
    using MbientLab.MetaWear.Sensor.GyroBmi160;

    // set the data rat to 50Hz and the 
    // data range to +/- 2000 degrees/s
    gyro.Configure(OutputDataRate._50Hz, DataRange._2000dps);

Angular Velocity Data
---------------------
To retrieve angular velocity data, add a data route to the async data producer returned by the 
`AngularVelocity <http://mbientlab.com/docs/metawear/csharp/1/interfaceMbientLab_1_1MetaWear_1_1Sensor_1_1IGyroBmi160.html#a16cd699f69967441ae86c64c05c41f86>`_ property.  
Data values from that async producer are represented by the 
`AngularVelocity <http://mbientlab.com/docs/metawear/csharp/1/classMbientLab_1_1MetaWear_1_1Data_1_1AngularVelocity.html>`_ class.

::

    await gyro.AngularVelocity.AddRouteAsync(source => 
        source.Stream(data => Console.WriteLine("angular velocity = " + data.Value<AngularVelocity>()))
    );