docs: def angular_rate(self):
          """Return the angular rate for every axis in degree/second.
  
          :returns: Angular rate for every axis as a tuple
  
          :Example:
  
          >>> sensor = MPU6050I2C(gw)
          >>> sensor.wakeup()
          >>> sensor.angular_rate()
          (1.380859375, 1.6318359375, 1.8828125)
          """
          if not self.awake:
              raise Exception("MPU6050 is in sleep mode, use wakeup()")
  
          raw = self.i2c_read_register(0x43, 6)
          x, y, z = struct.unpack('>HHH', raw)
          scales = {
              self.RANGE_GYRO_250DEG: 16384,
              self.RANGE_GYRO_500DEG: 8192,
              self.RANGE_GYRO_1000DEG: 4096,
              self.RANGE_GYRO_2000DEG: 2048
          }
          scale = scales[self.gyro_range]
          return x / scale, y / scale, z / scale