code: def initialiseDevice(self):
          
          logger.debug("Initialising device")
          self.getInterruptStatus()
          self.setAccelerometerSensitivity(self._accelerationFactor * 32768.0)
          self.setGyroSensitivity(self._gyroFactor * 32768.0)
          self.setSampleRate(self.fs)
          for loop in self.ZeroRegister:
              self.i2c_io.write(self.MPU6050_ADDRESS, loop, 0)
          # Sets clock source to gyro reference w/ PLL
          self.i2c_io.write(self.MPU6050_ADDRESS, self.MPU6050_RA_PWR_MGMT_1, 0b00000010)
          # Controls frequency of wakeups in accel low power mode plus the sensor standby modes
          self.i2c_io.write(self.MPU6050_ADDRESS, self.MPU6050_RA_PWR_MGMT_2, 0x00)
          # Enables any I2C master interrupt source to generate an interrupt
          self.i2c_io.write(self.MPU6050_ADDRESS, self.MPU6050_RA_INT_ENABLE, 0x01)
          # enable the FIFO
          self.enableFifo()
          logger.debug("Initialised device")
docs: performs initialisation of the device
          :param batchSize: the no of samples that each provideData call should yield
          :return: