def getRawData(self):
        x = 256 * self.bus.read_byte_data(Gyroscope.L3GADDR, Gyroscope.XOUTHIGH) + self.bus.read_byte_data(Gyroscope.L3GADDR, Gyroscope.XOUTLOW)
        if x >= 32768:
            x = BitArray(bin(x)).int
            
        y = 256 * self.bus.read_byte_data(Gyroscope.L3GADDR, Gyroscope.YOUTHIGH) + self.bus.read_byte_data(Gyroscope.L3GADDR, Gyroscope.YOUTLOW)
        if y >= 32768:
            y = BitArray(bin(y)).int
            
        z = 256 * self.bus.read_byte_data(Gyroscope.L3GADDR, Gyroscope.ZOUTHIGH) + self.bus.read_byte_data(Gyroscope.L3GADDR, Gyroscope.ZOUTLOW)
        if z >= 32768:
            z = BitArray(bin(z)).int
            
        return self.scale * (x + Gyroscope.ZERO_X), self.scale * (y + Gyroscope.ZERO_Y), self.scale * (z + Gyroscope.ZERO_Z)
dataset/ETHPy150Open ericboehlke/BB-8/IMU.py/Gyroscope.getRawData/original