This is python code, we use it for Respberry3, and we have mistakes, can you check and correct the code?

import smbus import time class mpu6050: # Global Variables GRAVITIY_MS2 = 9.80665 address = None bus = None # Scale Modifiers ACCEL_SCALE_MODIFIER_2G = 16384.0 ACCEL_SCALE_MODIFIER_4G = 8192.0 ACCEL_SCALE_MODIFIER_8G = 4096.0 ACCEL_SCALE_MODIFIER_16G = 2048.0 GYRO_SCALE_MODIFIER_250DEG = 131.0 GYRO_SCALE_MODIFIER_500DEG = 65.5 GYRO_SCALE_MODIFIER_1000DEG = 32.8 GYRO_SCALE_MODIFIER_2000DEG = 16.4 # Pre-defined ranges ACCEL_RANGE_2G = 0x00 ACCEL_RANGE_4G = 0x08 ACCEL_RANGE_8G = 0x10 ACCEL_RANGE_16G = 0x18 GYRO_RANGE_250DEG = 0x00 GYRO_RANGE_500DEG = 0x08 GYRO_RANGE_1000DEG = 0x10 GYRO_RANGE_2000DEG = 0x18 # MPU-6050 Registers PWR_MGMT_1 = 0x6B PWR_MGMT_2 = 0x6C ACCEL_XOUT0 = 0x3B ACCEL_YOUT0 = 0x3D ACCEL_ZOUT0 = 0x3F TEMP_OUT0 = 0x41 GYRO_XOUT0 = 0x43 GYRO_YOUT0 = 0x45 GYRO_ZOUT0 = 0x47 ACCEL_CONFIG = 0x1C GYRO_CONFIG = 0x1B def __init__(self, address, bus=1): self.address = address self.bus = smbus.SMBus(bus) # Wake up the MPU-6050 since it starts in sleep mode self.bus.write_byte_data(self.address, self.PWR_MGMT_1, 0x00) # I2C communication methods def read_i2c_word(self, register): # Read the data from the registers high = self.bus.read_byte_data(self.address, register) low = self.bus.read_byte_data(self.address, register + 1) value = (high << 8) + low if (value >= 0x8000): return -((65535 - value) + 1) else: return value def set_accel_range(self, accel_range): # First change it to 0x00 to make sure we write the correct value later self.bus.write_byte_data(self.address, self.ACCEL_CONFIG, 0x00) # Write the new range to the ACCEL_CONFIG register self.bus.write_byte_data(self.address, self.ACCEL_CONFIG, accel_range) def read_accel_range(self, raw = False): raw_data = self.bus.read_byte_data(self.address, self.ACCEL_CONFIG) if raw is True: return raw_data elif raw is False: if raw_data == self.ACCEL_RANGE_2G: return 2 elif raw_data == self.ACCEL_RANGE_4G: return 4 elif raw_data == self.ACCEL_RANGE_8G: return 8 elif raw_data == self.ACCEL_RANGE_16G: return 16 else: return -1 def get_accel_data(self, g = False): x = self.read_i2c_word(self.ACCEL_XOUT0) y = self.read_i2c_word(self.ACCEL_YOUT0) z = self.read_i2c_word(self.ACCEL_ZOUT0) accel_scale_modifier = None accel_range = self.read_accel_range(True) if accel_range == self.ACCEL_RANGE_2G: accel_scale_modifier = self.ACCEL_SCALE_MODIFIER_2G elif accel_range == self.ACCEL_RANGE_4G: accel_scale_modifier = self.ACCEL_SCALE_MODIFIER_4G elif accel_range == self.ACCEL_RANGE_8G: accel_scale_modifier = self.ACCEL_SCALE_MODIFIER_8G elif accel_range == self.ACCEL_RANGE_16G: accel_scale_modifier = self.ACCEL_SCALE_MODIFIER_16G else: print("Unknown range-accel_scale_modifier set to self.ACCEL_SCALE_MODIFIER_2G") accel_scale_modifier = self.ACCEL_SCALE_MODIFIER_2G x = x / accel_scale_modifier y = y / accel_scale_modifier z = z / accel_scale_modifier if g is True: return {'x': x, 'y': y, 'z': z} elif g is False: x = x * self.GRAVITIY_MS2 y = y * self.GRAVITIY_MS2 z = z * self.GRAVITIY_MS2 return {'x': x, 'y': y, 'z': z} def set_gyro_range(self, gyro_range): # First change it to 0x00 to make sure we write the correct value later self.bus.write_byte_data(self.address, self.GYRO_CONFIG, 0x00) # Write the new range to the ACCEL_CONFIG register self.bus.write_byte_data(self.address, self.GYRO_CONFIG, gyro_range) def read_gyro_range(self, raw = False): raw_data = self.bus.read_byte_data(self.address, self.GYRO_CONFIG) if raw is True: return raw_data elif raw is False: if raw_data == self.GYRO_RANGE_250DEG: return 250 elif raw_data == self.GYRO_RANGE_500DEG: return 500 elif raw_data == self.GYRO_RANGE_1000DEG: return 1000 elif raw_data == self.GYRO_RANGE_2000DEG: return 2000 else: return -1 def get_gyro_data(self): x = self.read_i2c_word(self.GYRO_XOUT0) y = self.read_i2c_word(self.GYRO_YOUT0) z = self.read_i2c_word(self.GYRO_ZOUT0) gyro_scale_modifier = None gyro_range = self.read_gyro_range(True) if gyro_range == self.GYRO_RANGE_250DEG: gyro_scale_modifier = self.GYRO_SCALE_MODIFIER_250DEG elif gyro_range == self.GYRO_RANGE_500DEG: gyro_scale_modifier = self.GYRO_SCALE_MODIFIER_500DEG elif gyro_range == self.GYRO_RANGE_1000DEG: gyro_scale_modifier = self.GYRO_SCALE_MODIFIER_1000DEG elif gyro_range == self.GYRO_RANGE_2000DEG: gyro_scale_modifier = self.GYRO_SCALE_MODIFIER_2000DEG else: gyro_scale_modifier = self.GYRO_SCALE_MODIFIER_250DEG x = x / gyro_scale_modifier y = y / gyro_scale_modifier z = self.read_i2c_word(self.GYRO_ZOUT0) gyro_scale_modifier = None gyro_range = self.read_gyro_range(True) if gyro_range == self.GYRO_RANGE_250DEG: gyro_scale_modifier = self.GYRO_SCALE_MODIFIER_250DEG elif gyro_range == self.GYRO_RANGE_500DEG: gyro_scale_modifier = self.GYRO_SCALE_MODIFIER_500DEG elif gyro_range == self.GYRO_RANGE_1000DEG: gyro_scale_modifier = self.GYRO_SCALE_MODIFIER_1000DEG elif gyro_range == self.GYRO_RANGE_2000DEG: gyro_scale_modifier = self.GYRO_SCALE_MODIFIER_2000DEG else: gyro_scale_modifier = self.GYRO_SCALE_MODIFIER_250DEG x = x / gyro_scale_modifier y = y / gyro_scale_modifier z = z / gyro_scale_modifier return {'x': x, 'y': y, 'z': z} def get_all_data(self): temp = self.get_temp() accel = self.get_accel_data() gyro = self.get_gyro_data() return [accel, gyro, temp] mpu = mpu6050(0x68) if __name__ == "__main__": while (1): try: accel_data = mpu.get_accel_data() gyro_data = mpu.get_gyro_data() print("Ax:{:.4f}\tAy:{:.4f}\tAz:{:.4f}\tGx:{:.4f}\tGy:{:.4f}\tGz:{:.4f} ".format(accel_data['x'], accel_data['y'], accel_data['z'], gyro_data['x'], gyro_data['y'], gyro_data['z'])) except KeyboardInterrupt: break time.sleep(0.5)