/*
The Pololu MinIMU-9 v3 is a compact inertial measurement unit (IMU) that combines a 3-axis gyroscope, 3-axis accelerometer, and 3-axis magnetometer. This module uses the L3GD20H gyroscope, the LSM303D accelerometer/magnetometer, and communicates over I2C. Here's an example using the LSM303 and L3GD20 libraries with an Arduino:

Install the required libraries:

LSM303: https://github.com/pololu/lsm303-arduino
L3GD20: https://github.com/pololu/L3G-arduino
Upload the following code to your Arduino board:

This code initializes the LSM303D accelerometer/magnetometer and L3GD20H gyroscope, reads their data, and prints the values to the Serial monitor. Connect the MinIMU-9 v3's SDA, SCL, VCC, and GND pins to the corresponding pins on your Arduino board.
*/

#include <Wire.h>
#include <LSM303.h>
#include <L3G.h>

LSM303 compass;
L3G gyro;

void setup() {
  Serial.begin(9600);
  Wire.begin();

  // Initialize the compass (accelerometer and magnetometer)
  if (!compass.init()) {
    Serial.println("Failed to detect and initialize compass!");
    while (1);
  }
  compass.enableDefault();

  // Initialize the gyroscope
  if (!gyro.init()) {
    Serial.println("Failed to detect and initialize gyro!");
    while (1);
  }
  gyro.enableDefault();
}

void loop() {
  // Read the accelerometer and magnetometer
  compass.read();

  // Read the gyroscope
  gyro.read();

  // Print the accelerometer data
  Serial.print("Accel (X, Y, Z): ");
  Serial.print(compass.a.x); Serial.print(", ");
  Serial.print(compass.a.y); Serial.print(", ");
  Serial.println(compass.a.z);

  // Print the magnetometer data
  Serial.print("Mag (X, Y, Z): ");
  Serial.print(compass.m.x); Serial.print(", ");
  Serial.print(compass.m.y); Serial.print(", ");
  Serial.println(compass.m.z);

  // Print the gyroscope data
  Serial.print("Gyro (X, Y, Z): ");
  Serial.print(gyro.g.x); Serial.print(", ");
  Serial.print(gyro.g.y); Serial.print(", ");
  Serial.println(gyro.g.z);

  Serial.println();

  delay(500);
}