             "i2c-4\ti2c       \ti915 gmbus dpb                  \tI2C adapter\r\n",
             "i2c-5\ti2c       \ti915 gmbus dpd                  \tI2C adapter\r\n",
             "i2c-6\ti2c       \tDPDDC-B                         \tI2C adapter\r\n",
             "i2c-7\ti2c       \ti2c-tiny-usb at bus 001 device 008\tI2C adapter\r\n"
             "i2c-7\ti2c       \ti2c-tiny-usb at bus 001 device 025\tI2C adapter\r\n"
+           ]
+          }
          ],
          "prompt_number": 27
          "prompt_number": 1
         },
+        {
          "cell_type": "markdown",
-...
          "language": "python",
          "metadata": {},
          "outputs": [],
          "prompt_number": 28
          "prompt_number": 2
         },
+        {
          "cell_type": "markdown",
-...
          "language": "python",
          "metadata": {},
          "outputs": [],
          "prompt_number": 29
          "prompt_number": 3
         },
+        {
          "cell_type": "markdown",
-...
          "cell_type": "markdown",
          "metadata": {},
          "source": [
           "\u010cten\u00ed dat z akcelerometru\n",
           "-------------------------\n",
           "\n",
           "Nyn\u00ed u\u017e m\u016f\u017eeme p\u0159\u00edmo komunikovat se za\u0159\u00edzen\u00edm pojmenovan\u00fdm jako acc."
+         ]
         },
-...
          "cell_type": "markdown",
          "metadata": {},
          "source": [
           "Nam\u011b\u0159en\u00e1 data m\u016f\u017eeme tak\u00e9 z\u00edskat z p\u0159edem ulo\u017een\u00e9ho souboru. V n\u00e1sleduj\u00edc\u00edm bloku je otev\u0159en soubor s referen\u010dn\u00edmi daty, kter\u00fd se nach\u00e1z\u00ed v dokumenta\u010dn\u00ed slo\u017ece mudulu IMU01A. "
           "Kalibrace akcelerometru\n",
           "-----------------------\n",
           "\n",
           "Nam\u011b\u0159en\u00e1 data m\u016f\u017eeme tak\u00e9 z\u00edskat z p\u0159edem ulo\u017een\u00e9ho souboru. V n\u00e1sleduj\u00edc\u00edm bloku je otev\u0159en soubor s referen\u010dn\u00edmi daty, kter\u00fd se nach\u00e1z\u00ed v dokumenta\u010dn\u00ed slo\u017ece mudulu IMU01A. \n"
+         ]
         },
+        {
-...
          "prompt_number": 26
         },
+        {
          "cell_type": "markdown",
          "metadata": {},
          "source": [
           "\u010cten\u00ed dat z gyroskopu\n",
           "---------------------\n",
           "\n"
+         ]
         },
+        {
          "cell_type": "code",
          "collapsed": false,
          "input": [
           "cfg = config.Config(\n",
           "    i2c = {\n",
           "        \"port\": port,\n",
           "    },\n",
           "\n",
           "\tbus = [\n",
           "\t\t{\n",
           "            \"type\": \"i2chub\",\n",
           "            \"address\": 0x72,\n",
           "            \n",
           "            \"children\": [\n",
           "                {\"name\": \"gyro\", \"type\": \"imu01_gyro\", \"channel\": 0, }\n",
           "            ],\n",
           "\t\t},\n",
           "\t],\n",
           ")\n",
           "\n",
           "cfg.initialize()\n",
           "#acc = cfg.get_device(\"acc\")\n",
           "gyro = cfg.get_device(\"gyro\")\n",
           "sys.stdout.write(\" MLAB accelerometer sensor IMU01A module example \\r\\n\")\n",
           "time.sleep(0.5)\n",
           "gyro.route()"
          ],
          "language": "python",
          "metadata": {},
          "outputs": [
+          {
            "output_type": "stream",
            "stream": "stderr",
            "text": [
             "WARNING:pymlab.sensors.iic:HID device does not exist, we will try SMBus directly...\n"
+           ]
           },
+          {
            "output_type": "stream",
            "stream": "stdout",
            "text": [
             " MLAB accelerometer sensor IMU01A module example \r\n"
+           ]
           },
+          {
            "metadata": {},
            "output_type": "pyout",
            "prompt_number": 4,
            "text": [
             "True"
+           ]
+          }
          ],
          "prompt_number": 4
         },
+        {
          "cell_type": "code",
          "collapsed": false,
          "input": [
           "import sys\n",
           "import time\n",
           "from IPython.display import clear_output\n",
           "\n",
           "MEASUREMENTS = 100\n",
           "list_meas = []\n",
           "#    acc.route()  V p\u0159\u00edpad\u011b v\u00edce \u010didel je pot\u0159eba ke ka\u017ed\u00e9mu p\u0159ed jeho pou\u017eit\u00edm nechat vyroutovat cesutu na sb\u011brnici.\n",
           "\n",
           "for n in range(MEASUREMENTS):\n",
           "    clear_output()\n",
           "    (x, y, z) = gyro.axes()\n",
           "    list_meas.append([x, y, z])\n",
           "    print (n, list_meas[n])\n",
           "    sys.stdout.flush()"
          ],
          "language": "python",
          "metadata": {},
          "outputs": [
+          {
            "output_type": "stream",
            "stream": "stdout",
            "text": [
             "(99, [195, -118, 7])\n"
+           ]
+          }
          ],
          "prompt_number": 5
         },
+        {
          "cell_type": "code",
          "collapsed": false,
          "input": [
           "measurements = np.array(list_meas)\n",
           "\n",
           "%pylab qt\n",
           "plt.subplot(1, 1, 1)\n",
           "plt.plot(measurements[:, 0])\n",
           "plt.plot(measurements[:, 1])\n",
           "plt.plot(measurements[:, 2])\n",
           "plt.xlabel('sample number')\n",
           "plt.ylabel('ADC')\n",
           "plt.title('Raw sensors')"
          ],
          "language": "python",
          "metadata": {},
          "outputs": [
+          {
            "output_type": "stream",
            "stream": "stdout",
            "text": [
             "Populating the interactive namespace from numpy and matplotlib\n"
+           ]
           },
+          {
            "metadata": {},
            "output_type": "pyout",
            "prompt_number": 6,
            "text": [
             "<matplotlib.text.Text at 0x7f5b38053450>"
+           ]
+          }
          ],
          "prompt_number": 6
         },
+        {
          "cell_type": "code",
          "collapsed": false,
          "input": [
           "help(map)"
          ],
          "language": "python",
          "metadata": {},
          "outputs": [
+          {
            "output_type": "stream",
            "stream": "stdout",
            "text": [
             "Help on built-in function map in module __builtin__:\n",
             "\n",
             "map(...)\n",
             "    map(function, sequence[, sequence, ...]) -> list\n",
             "    \n",
             "    Return a list of the results of applying the function to the items of\n",
             "    the argument sequence(s).  If more than one sequence is given, the\n",
             "    function is called with an argument list consisting of the corresponding\n",
             "    item of each sequence, substituting None for missing values when not all\n",
             "    sequences have the same length.  If the function is None, return a list of\n",
             "    the items of the sequence (or a list of tuples if more than one sequence).\n",
             "\n"
+           ]
+          }
          ],
          "prompt_number": 10
         },
+        {
          "cell_type": "code",
          "collapsed": false,
          "input": [],
          "language": "python",
          "metadata": {},