--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/show_accel.py	Sat Oct 11 17:27:32 2014 +0200
@@ -0,0 +1,51 @@
+#!/usr/bin/env python
+# -*- coding: utf-8 -*-
+import pygame
+import serial
+import math
+
+import kubik
+import joy
+
+
+FPS = 50
+
+
+class Walk(joy.Walk):
+    def circle(self, screen, (x, y, z), c, m):
+        x = m + int((x * m) / 16384)
+        y = m + int((y * m) / 16384)
+        z = max(2, int(abs(z * m) / 16384))
+        pygame.draw.circle(screen, c, (x, y), z, 2)
+
+    def accel_anim(self):
+        screen = pygame.display.get_surface()
+        xsize, ysize = screen.get_size()
+        while True:
+            accel, gyro, temp = robot.get_accel()
+            screen.fill(0x000000)
+            self.circle(screen, accel, 0xff0000, 100)
+            self.circle(screen, gyro, 0x00ff00, 100)
+            pygame.display.update()
+            yield
+
+
+if __name__ == '__main__':
+    # Initialize PyGame.
+    pygame.display.init()
+    window = pygame.display.set_mode((200, 200))
+    pygame.joystick.init()
+    for joy in range(pygame.joystick.get_count()):
+        pygame.joystick.Joystick(joy).init()
+
+    # Initialize the robot.
+    robot = kubik.Robot(serial.Serial('/dev/rfcomm0', 115200))
+    robot.home()
+    walk = Walk(robot)
+    clock = pygame.time.Clock()
+    robot.run_animations([
+        walk.stomp_anim(),
+        walk.retract_anim(),
+        walk.joy_anim(),
+        walk.accel_anim(),
+    ], FPS)