Solved a bug in the function to check if the calibration of the IMU is done:...

Solved a bug in the function to check if the calibration of the IMU is done: it returned the inverse value.
Completed the IMU example.

src/darwin_robot.cpp

@@ -353,10 +353,11 @@ bool CDarwinRobot::imu_is_gyro_cal_done(void)
   if(this->robot_device==NULL)
     throw CDarwinRobotException(_HERE_,"Invalid robot device");
   this->robot_device->read_byte_register(IMU_CONTROL_OFFSET,&status);
+  std::cout << std::hex << (int)status << std::endl;
   if(status&IMU_CALIBRATING)
-    return true;
-  else
     return false;
+  else
+    return true;
 }
 
 bool CDarwinRobot::imu_is_accel_detected(void)

src/examples/darwin_imu_test.cpp

@@ -18,6 +18,14 @@ int main(int argc, char *argv[])
     std::cout << "found darwin controller" << std::endl;
     std::cout << "Number of calibration samples: " << darwin.imu_get_cal_samples() << std::endl;
     darwin.imu_start();
+    std::cout << "Gyroscope detected: " << darwin.imu_is_gyro_detected() << std::endl;
+    std::cout << "Accelerometer detected: " << darwin.imu_is_accel_detected() << std::endl;
+    darwin.imu_start_gyro_cal();
+    while(!darwin.imu_is_gyro_cal_done())
+    {
+      std::cout << "calibrating gyro ..." << std::endl;
+      usleep(100000);
+    }
     for(i=0;i<50;i++)
     {
       darwin.imu_get_gyro_data(&gyro_x,&gyro_y,&gyro_z);