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roll back example

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This commit is contained in:
juliangaal 2019-04-23 11:07:22 +02:00
parent 1b7ee0f281
commit 2247012b4f
2 changed files with 0 additions and 93 deletions
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31
example/src/bin/main.rs
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use mpu6050::*;
use linux_embedded_hal::{I2cdev, Delay};
use i2cdev::linux::LinuxI2CError;
fn main() -> Result<(), Error<LinuxI2CError>> {
let i2c = I2cdev::new("/dev/i2c-1")
.map_err(Error::I2c)?;
let delay = Delay;
let mut mpu = Mpu6050::new(i2c, delay);
mpu.init()?;
loop {
// get roll and pitch estimate
let acc = mpu.get_acc_angles()?;
println!("r/p: {:?}", acc);
// get temp
let temp = mpu.get_temp()?;
println!("temp: {}c", temp);
// get gyro data, scaled with sensitivity
let gyro = mpu.get_gyro()?;
println!("gyro: {:?}", gyro);
// get accelerometer data, scaled with sensitivity
let acc = mpu.get_acc()?;
println!("acc: {:?}", acc);
}
}

62
example/src/bin/recorder.rs
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use mpu6050::*;
use mpu6050::Error as Mpu6050Error;
use linux_embedded_hal::{I2cdev, Delay};
use i2cdev::linux::LinuxI2CError;
use std::io::prelude::*;
use std::fs::File;
use std::path::Path;
use std::error::Error;
fn new_file(name: &str) -> File {
let path = Path::new(name);
let display = path.display();
let _file = match File::create(&path) {
Err(why) => panic!("couldn't create {}: {}",
display,
why.description()),
Ok(file) => return file,
};
}
fn write_x_to(file: &mut File, content: String) {
match file.write_all(content.as_bytes()) {
Err(why) => {
println!("couldn't write to file: {}", why.description());
},
Ok(_) => {},
}
}
fn main() -> Result<(), Mpu6050Error<LinuxI2CError>> {
let i2c = I2cdev::new("/dev/i2c-1")
.map_err(Mpu6050Error::I2c)?;
let delay = Delay;
let mut mpu = Mpu6050::new(i2c, delay);
mpu.init()?;
let mut acc_file = new_file("acc_data.txt");
let mut gyro_file = new_file("gyro_data.txt");
let mut temp_file = new_file("temp_data.txt");
let mut angles_file = new_file("angles_data.txt");
loop {
// get roll and pitch estimate
let acc = mpu.get_acc_angles()?;
write_x_to(&mut angles_file, format!("{},{}", acc.0, acc.1));
// get temp
let temp = mpu.get_temp()?;
write_x_to(&mut temp_file, format!("{}", temp));
// get gyro data, scaled with sensitivity
let gyro = mpu.get_gyro()?;
write_x_to(&mut gyro_file, format!("{} {} {}", gyro.0, gyro.1, gyro.2));
// get accelerometer data, scaled with sensitivity
let acc = mpu.get_acc()?;
write_x_to(&mut acc_file, format!("{} {} {}", acc.0, acc.1, acc.2));
}
}