From 8f39d8ce56b1867ed9dcab52562c2b9ff4684fdc Mon Sep 17 00:00:00 2001
From: Julian Gaal <juliangaal@users.noreply.github.com>
Date: Wed, 24 Apr 2019 16:08:35 +0200
Subject: [PATCH] Update example with averaging

---
 README.md | 22 +++++++++++++++++++---
 1 file changed, 19 insertions(+), 3 deletions(-)

diff --git a/README.md b/README.md
index d531cff..abe90e2 100644
--- a/README.md
+++ b/README.md
@@ -23,8 +23,8 @@ fn main() -> Result<(), Error<LinuxI2CError>> {
 
     let mut mpu = Mpu6050::new(i2c, delay);
     mpu.init()?;
-    mpu.soft_calib(100)?;
-    mpu.calc_variance(50)?;
+        mpu.soft_calib(Steps(100))?;
+    mpu.calc_variance(Steps(50))?;
 
     println!("Calibrated with bias: {:?}", mpu.get_bias().unwrap());
     println!("Calculated variance: {:?}", mpu.get_variance().unwrap());
@@ -34,18 +34,34 @@ fn main() -> Result<(), Error<LinuxI2CError>> {
         let acc = mpu.get_acc_angles()?;
         println!("r/p: {:?}", acc);
 
+        // get roll and pitch estimate - averaged accross n readings (steps)
+        let acc = mpu.get_acc_angles_avg(Steps(5))?;
+        println!("r/p avg: {:?}", acc);
+
         // get temp
         let temp = mpu.get_temp()?;
         println!("temp: {}c", temp);
 
+        // get temp - averages across n readings (steps)
+        let temp = mpu.get_temp_avg(Steps(5))?;
+        println!("temp avg: {}c", temp);
+
         // get gyro data, scaled with sensitivity 
         let gyro = mpu.get_gyro()?;
         println!("gyro: {:?}", gyro);
         
+        // get gyro data, scaled with sensitivity - averaged across n readings (steps) 
+        let gyro = mpu.get_gyro_avg(Steps(5))?;
+        println!("gyro avg: {:?}", gyro);
+        
         // get accelerometer data, scaled with sensitivity
         let acc = mpu.get_acc()?;
         println!("acc: {:?}", acc);
-    }
+        
+        // get accelerometer data, scaled with sensitivity - averages across n readings (steps)
+        let acc = mpu.get_acc_avg(Steps(5))?;
+        println!("acc avg: {:?}", acc);
+
 }
 ```
 *Note*: this example uses API of version on local master branch. Some functions may not be available on published crate yet.