From 517af872b7d267f430649107b990526b6097e147 Mon Sep 17 00:00:00 2001
From: Jarrad Brown <jabrownza@gmail.com>
Date: Fri, 27 Feb 2026 15:13:39 -0600
Subject: [PATCH] Updated ADXL345 sandbox test code, trying different library

---
 uC/main_uC/Mentor/_Sandbox/ADXL345/adxl345.py | 67 +++++++++++++------
 uC/main_uC/Mentor/_Sandbox/ADXL345/main.py    | 23 ++++---
 2 files changed, 58 insertions(+), 32 deletions(-)

diff --git a/uC/main_uC/Mentor/_Sandbox/ADXL345/adxl345.py b/uC/main_uC/Mentor/_Sandbox/ADXL345/adxl345.py
index 7c11499..8285049 100644
--- a/uC/main_uC/Mentor/_Sandbox/ADXL345/adxl345.py
+++ b/uC/main_uC/Mentor/_Sandbox/ADXL345/adxl345.py
@@ -1,26 +1,51 @@
-from micropython import const
-from machine import Pin, SoftI2C
 
-# ADXL-345 Registers
-_DATA_FORMAT = const(0x31)
-_POWER_CTL = const(0x2D)
-_DATAX0 = const(0x32)
+from machine import Pin,I2C
+import math
+import time
+
+device = const(0x53)
+regAddress = const(0x32)
+TO_READ = 6
+buff = bytearray(6)
 
 class ADXL345:
-    def __init__(self, i2c, address=0x53):
+    def __init__(self,i2c,addr=device):
+        self.addr = addr
         self.i2c = i2c
-        self.address = address
-        self.i2c.start()
-        self.i2c.writeto(self.address, bytearray([_POWER_CTL, 0x08])) # power on
-        self.i2c.writeto(self.address, bytearray([_DATA_FORMAT, 0x08])) # full resolution mode
-        self.i2c.stop()
+        b = bytearray(1)
+        b[0] = 0
+        self.i2c.writeto_mem(self.addr,0x2d,b)
+        b[0] = 16
+        self.i2c.writeto_mem(self.addr,0x2d,b)
+        b[0] = 8
+        self.i2c.writeto_mem(self.addr,0x2d,b)
+
+    @property
+    def xValue(self):
+        buff = self.i2c.readfrom_mem(self.addr,regAddress,TO_READ)
+        x = (int(buff[1]) << 8) | buff[0]
+        if x > 32767:
+            x -= 65536
+        return x
+   
+    @property
+    def yValue(self):
+        buff = self.i2c.readfrom_mem(self.addr,regAddress,TO_READ)
+        y = (int(buff[3]) << 8) | buff[2]
+        if y > 32767:
+            y -= 65536
+        return y
+     
+    @property   
+    def zValue(self): 
+        buff = self.i2c.readfrom_mem(self.addr,regAddress,TO_READ)
+        z = (int(buff[5]) << 8) | buff[4]
+        if z > 32767:
+            z -= 65536
+        return z
+           
+    def RP_calculate(self,x,y,z):
+        roll = math.atan2(y , z) * 57.3
+        pitch = math.atan2((- x) , math.sqrt(y * y + z * z)) * 57.3
+        return roll,pitch
 
-    def read(self):
-        self.i2c.start()
-        self.i2c.writeto(self.address, bytearray([_DATAX0]))
-        data = self.i2c.readfrom(self.address, 6)
-        self.i2c.stop()
-        x = ((data[1] << 8) | data[0])
-        y = ((data[3] << 8) | data[2])
-        z = ((data[5] << 8) | data[4])
-        return (x, y, z)d
\ No newline at end of file
diff --git a/uC/main_uC/Mentor/_Sandbox/ADXL345/main.py b/uC/main_uC/Mentor/_Sandbox/ADXL345/main.py
index dd0d8a4..de1b363 100644
--- a/uC/main_uC/Mentor/_Sandbox/ADXL345/main.py
+++ b/uC/main_uC/Mentor/_Sandbox/ADXL345/main.py
@@ -1,15 +1,16 @@
-from machine import Pin, SoftI2C
-from adxl345 import ADXL345
+from machine import Pin,I2C
+import adxl345
 import time
 
-# Define I2C pins
-i2c = SoftI2C(scl=Pin(15), sda=Pin(16))
+i2c = I2C(scl=Pin(15),sda=Pin(16), freq=10000)
+adx = adxl345.ADXL345(i2c)
 
-# Initialize ADXL345
-accel = ADXL345(i2c)
-
-# Read accelerometer data
 while True:
-    x, y, z = accel.read()
-    print("x = {}, y = {}, z = {}".format(x, y, z))
-    time.sleep(0.2)
+    x=adx.xValue
+    y=adx.yValue
+    z=adx.zValue
+    print('The acceleration info of x, y, z are:%d,%d,%d'%(x,y,z))
+    roll,pitch = adx.RP_calculate(x,y,z)
+    print('roll=',roll)
+    print('pitch=',pitch)
+    time.sleep_ms(50)