From 3708b3c35e6480482b411eba209fe9fe51cd87f7 Mon Sep 17 00:00:00 2001
From: juliangaal <juliangaal@protonmail.com>
Date: Mon, 20 May 2019 16:20:34 +0200
Subject: [PATCH] build example in base cargo.toml with dev-dependencies

---
 {example/.cargo => .cargo}/config |  0
 Cargo.toml                        |  6 ++++
 examples/.cargo/config            |  2 ++
 {example => examples}/Cargo.toml  |  0
 examples/main.rs                  | 52 +++++++++++++++++++++++++++++++
 {example => examples}/src/main.rs |  0
 6 files changed, 60 insertions(+)
 rename {example/.cargo => .cargo}/config (100%)
 create mode 100644 examples/.cargo/config
 rename {example => examples}/Cargo.toml (100%)
 create mode 100644 examples/main.rs
 rename {example => examples}/src/main.rs (100%)

diff --git a/example/.cargo/config b/.cargo/config
similarity index 100%
rename from example/.cargo/config
rename to .cargo/config
diff --git a/Cargo.toml b/Cargo.toml
index 47892e5..6d2d91e 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -17,3 +17,9 @@ libm = "0.1.2"
 [dependencies.nalgebra]
 default-features = false
 version = "0.18.0"
+
+[dev-dependencies]
+i2cdev = "0.4.1"
+linux-embedded-hal = "0.2.2"
+
+
diff --git a/examples/.cargo/config b/examples/.cargo/config
new file mode 100644
index 0000000..0c1c209
--- /dev/null
+++ b/examples/.cargo/config
@@ -0,0 +1,2 @@
+[target.armv7-unknown-linux-gnueabihf]
+linker = "arm-linux-gnueabihf-gcc"
diff --git a/example/Cargo.toml b/examples/Cargo.toml
similarity index 100%
rename from example/Cargo.toml
rename to examples/Cargo.toml
diff --git a/examples/main.rs b/examples/main.rs
new file mode 100644
index 0000000..13a2989
--- /dev/null
+++ b/examples/main.rs
@@ -0,0 +1,52 @@
+use mpu6050::*;
+use linux_embedded_hal::{I2cdev, Delay};
+use i2cdev::linux::LinuxI2CError;
+
+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()?;
+    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());
+
+    loop {
+        // get roll and pitch estimate
+        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);
+    }
+}
diff --git a/example/src/main.rs b/examples/src/main.rs
similarity index 100%
rename from example/src/main.rs
rename to examples/src/main.rs