Hi I'm trying to integrate gyro data to give angle of rotation but am having difficulty getting a high enough sample rate. For instance I've tried timing how long the following line takes to execute using the Diagnostics.Stopwatch

System.Diagnostics.Stopwatch timer = new System.Diagnostics.Stopwatch(); 
timer.Start(); 

byte gyro_xvalh = ezb0.I2C.Read(gyro,0x1D); // read from x value register address msb

timer.Stop(); // 
MessageBox.Show(string.Format("Elapsed time is: {0}", timer.ElapsedMilliseconds));

Its around 60ms which seems a long time, I'm running and compiling the test script from the c# script in ARC. I could really do with a much faster read time as I want to get as accurate rotation angle as possible.

If anyone knows what the limiting factors are that are resulting in this delay that would be a great help.

Thanks

Tom