clean, comments

src/bin/linux.rs

@@ -1,48 +0,0 @@
-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()?;
-    //mpu.soft_calib(200)?;
-
-    loop {
-        // get roll and pitch estimate
-        match mpu.get_acc_angles() {
-            Ok(r) => {
-                println!("r/p: {:?}", r);
-            },
-            Err(_) => {} ,
-        }
-
-        // get temp
-        match mpu.get_temp() {
-            Ok(r) => {
-                println!("temp: {}c", r);
-            },
-            Err(_) => {} ,
-        }
-
-        // get gyro data, scaled with sensitivity 
-        match mpu.get_gyro() {
-            Ok(r) => {
-                println!("gyro: {:?}", r);
-            },
-            Err(_) => {} ,
-        }
-        
-        // get accelerometer data, scaled with sensitivity
-        match mpu.get_acc() {
-            Ok(r) => {
-                println!("acc: {:?}", r);
-            },
-            Err(_) => {} ,
-        }
-    }
-}

src/lib.rs

@@ -16,11 +16,17 @@ use embedded_hal::{
 /// Used for bias calculation of chip in mpu::soft_calib
 #[derive(Default)]
 struct Bias {
+    /// accelerometer x axis bias
     ax: f32,
+    /// accelerometer y axis bias
     ay: f32,
+    /// accelerometer z axis bias
     az: f32,
+    /// gyro x axis bias
     gx: f32,
+    /// gyro y axis bias
     gy: f32,
+    /// gyro z axis bias
     gz: f32,
 }