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use cargo examples structure

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juliangaal 2019-05-21 09:30:18 +02:00
parent 0656fe336b
commit 59f7834c61
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10
examples/Cargo.toml
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[package]
name = "example"
version = "0.1.0"
authors = ["Julian Gaal <juliangaal@protonmail.com>"]
edition = "2018"
[dependencies]
mpu6050 = { path = "../" }
i2cdev = "0.4.1"
linux-embedded-hal = "0.2.2"

0
examples/main.rs → examples/linux.rs
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52
examples/src/main.rs
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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);
}
}