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Update example with non owning delay [skip ci]

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Julian Gaal 2020-09-24 15:24:06 +02:00 committed by GitHub
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1 changed files with 12 additions and 12 deletions
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@ -16,10 +16,10 @@ fn main() -> Result<(), Mpu6050Error<LinuxI2CError>> {
let i2c = I2cdev::new("/dev/i2c-1") let i2c = I2cdev::new("/dev/i2c-1")
.map_err(Mpu6050Error::I2c)?; .map_err(Mpu6050Error::I2c)?;
let delay = Delay; let mut delay = Delay;
let mut mpu = Mpu6050::new(i2c);
let mut mpu = Mpu6050::new(i2c, delay);
mpu.init()?; mpu.init(&mut delay)?;
mpu.soft_calib(Steps(100))?; mpu.soft_calib(Steps(100))?;
mpu.calc_variance(Steps(50))?; mpu.calc_variance(Steps(50))?;
@ -29,35 +29,35 @@ fn main() -> Result<(), Mpu6050Error<LinuxI2CError>> {
loop { loop {
// get roll and pitch estimate // get roll and pitch estimate
let acc = mpu.get_acc_angles()?; let acc = mpu.get_acc_angles()?;
println!("r/p: {}", acc); println!("r/p: {:?}", acc);
// get roll and pitch estimate - averaged accross n readings (steps) // get roll and pitch estimate - averaged accross n readings (steps)
let acc = mpu.get_acc_angles_avg(Steps(5))?; let acc = mpu.get_acc_angles_avg(Steps(5))?;
println!("r/p avg: {}", acc); println!("r/p avg: {:?}", acc);
// get temp // get temp
let temp = mpu.get_temp()?; let temp = mpu.get_temp()?;
println!("temp: {}c", temp); println!("temp: {:?}c", temp);
// get temp - averages across n readings (steps) // get temp - averages across n readings (steps)
let temp = mpu.get_temp_avg(Steps(5))?; let temp = mpu.get_temp_avg(Steps(5))?;
println!("temp avg: {}c", temp); println!("temp avg: {:?}c", temp);
// get gyro data, scaled with sensitivity // get gyro data, scaled with sensitivity
let gyro = mpu.get_gyro()?; let gyro = mpu.get_gyro()?;
println!("gyro: {}", gyro); println!("gyro: {:?}", gyro);
// get gyro data, scaled with sensitivity - averaged across n readings (steps) // get gyro data, scaled with sensitivity - averaged across n readings (steps)
let gyro = mpu.get_gyro_avg(Steps(5))?; let gyro = mpu.get_gyro_avg(Steps(5))?;
println!("gyro avg: {}", gyro); println!("gyro avg: {:?}", gyro);
// get accelerometer data, scaled with sensitivity // get accelerometer data, scaled with sensitivity
let acc = mpu.get_acc()?; let acc = mpu.get_acc()?;
println!("acc: {}", acc); println!("acc: {:?}", acc);
// get accelerometer data, scaled with sensitivity - averages across n readings (steps) // get accelerometer data, scaled with sensitivity - averages across n readings (steps)
let acc = mpu.get_acc_avg(Steps(5))?; let acc = mpu.get_acc_avg(Steps(5))?;
println!("acc avg: {}", acc); println!("acc avg: {:?}", acc);
} }
} }
``` ```