Better logging and added BHI160 sensor

spatz/sensors/imu/bhi160.py

@@ -1,4 +1,4 @@
-from typing import List
+from typing import List, AnyStr
 
 from numpy.typing import ArrayLike
 from spatz.dataset import ArrayLike, Dataset
@@ -8,13 +8,27 @@ from spatz.transforms import Transform
 
 
 class BHI160Gyro(Gyroscope):
-    def __init__(self, dataset: Dataset, logger: Logger, offset: float = 0, transforms: List[Transform] = ...):
+    def __init__(self, dataset: Dataset, logger: Logger, offset: float = 0, transforms: List[Transform] = []):
         super().__init__(dataset, logger, offset, transforms)
 
+    def _get_name(self) -> AnyStr:
+        return 'BHI160'
+
     def _get_data(self) -> ArrayLike:
         rots = self._dataset.fetch_values(['roll_l', 'pitch_l', 'yaw_l'])
 
-        
+        return rots
 
     def _sensor_specific_effects(self, x: ArrayLike) -> ArrayLike:
         return x
+    
+
+class BHI160Acc(Accelerometer):
+    def __init__(self, dataset: Dataset, logger: Logger, offset: float = 0, transforms: List[Transform] = []):
+        super().__init__(dataset, logger, offset, transforms)
+
+    def _get_name(self) -> AnyStr:
+        return 'BHI160'
+    
+    def _sensor_specific_effects(self, x: ArrayLike) -> ArrayLike:
+        return x