i2c UDP Demon Read MPU6050 data and write socket [ USAGE: python i2cUDPMPU6050.py '127.0.0.1' 5005 1 'N' ]

i2cUDPMPU6050.py

#!/usr/bin/python

import smbus
import math
import socket
import sys
import time

if len(sys.argv) < 4:
    sys.exit('Usage: %s IPADDRESS PORT ID_BUS_I2C' % sys.argv[0])

UDP_IP   = str(sys.argv[1])
UDP_PORT = int(sys.argv[2])
ID_BUS   = int(sys.argv[3])
DEBUG    = str(sys.argv[4])

MESSAGE = ""

print "UDP target IP:", UDP_IP
print "UDP target port:", UDP_PORT

sock = socket.socket(socket.AF_INET,socket.SOCK_DGRAM)

power_mgmt_1 = 0x6b
power_mgmt_2 = 0x6c

def read_byte(adr):
    return bus.read_byte_data(address, adr)

def read_word(adr):
    high = bus.read_byte_data(address, adr)
    low = bus.read_byte_data(address, adr+1)
    val = (high << 8) + low
    return val

def read_word_2c(adr):
    val = read_word(adr)
    if (val >= 0x8000):
        return -((65535 - val) + 1)
    else:
        return val

def dist(a,b):
    return math.sqrt((a*a)+(b*b))

def get_y_rotation(x,y,z):
    radians = math.atan2(x, dist(y,z))
    return -math.degrees(radians)

def get_x_rotation(x,y,z):
    radians = math.atan2(y, dist(x,z))
    return math.degrees(radians)

bus = smbus.SMBus(ID_BUS)
address = 0x68

while True:
        bus.write_byte_data(address, power_mgmt_1, 0)

        gyro_xout = read_word_2c(0x43)
        gyro_yout = read_word_2c(0x45)
        gyro_zout = read_word_2c(0x47)

        MESSAGE = str(gyro_xout)+","+str(gyro_yout)+","+str(gyro_zout)+"|";

        accel_xout = read_word_2c(0x3b)
        accel_yout = read_word_2c(0x3d)
        accel_zout = read_word_2c(0x3f)

        accel_xout_scaled = accel_xout / 16384.0
        accel_yout_scaled = accel_yout / 16384.0
        accel_zout_scaled = accel_zout / 16384.0

        MESSAGE = MESSAGE + str(accel_xout)+","+str(accel_yout)+","+str(accel_zout)+"|";
        MESSAGE = MESSAGE + str(accel_xout_scaled)+","+str(accel_yout_scaled)+","+str(accel_zout_scaled);

        if DEBUG == "S":
                print MESSAGE

        sock.sendto(MESSAGE, (UDP_IP, UDP_PORT))