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documentation tests - fixed

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This commit is contained in:
juliangaal 2019-06-07 10:06:17 +02:00
parent d5138caee3
commit 69d0fd0d0e
2 changed files with 53 additions and 37 deletions
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16
examples/linux.rs
View file

@ -19,34 +19,34 @@ 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);
} }
} }

74
src/lib.rs
View file

@ -5,43 +5,59 @@
//! //!
//! To use this driver you must provide a concrete `embedded_hal` implementation. //! To use this driver you must provide a concrete `embedded_hal` implementation.
//! This example uses `linux_embedded_hal` //! This example uses `linux_embedded_hal`
//! ``` //! ```no_run
//! let i2c = I2cdev::new("/dev/i2c-1") //! use mpu6050::*;
//! .map_err(Mpu6050Error::I2c)?; //! use linux_embedded_hal::{I2cdev, Delay};
//! use i2cdev::linux::LinuxI2CError;
//! //!
//! let delay = Delay; //! fn main() -> Result<(), Mpu6050Error<LinuxI2CError>> {
//! let i2c = I2cdev::new("/dev/i2c-1")
//! .map_err(Mpu6050Error::I2c)?;
//! //!
//! let mut mpu = Mpu6050::new(i2c, delay); //! let delay = Delay;
//! mpu.init()?;
//! mpu.soft_calib(Steps(100))?;
//! mpu.calc_variance(Steps(50))?;
//! //!
//! println!("Calibrated with bias: {:?}", mpu.get_bias().unwrap()); //! let mut mpu = Mpu6050::new(i2c, delay);
//! println!("Calculated variance: {:?}", mpu.get_variance().unwrap()); //! mpu.init()?;
//! mpu.soft_calib(Steps(100))?;
//! mpu.calc_variance(Steps(50))?;
//! //!
//! // get roll and pitch estimate //! println!("Calibrated with bias: {:?}", mpu.get_bias().unwrap());
//! let acc = mpu.get_acc_angles()?; //! println!("Calculated variance: {:?}", mpu.get_variance().unwrap());
//! //!
//! // get roll and pitch estimate - averaged accross n readings (steps) //! loop {
//! let acc = mpu.get_acc_angles_avg(Steps(5))?; //! // get roll and pitch estimate
//! let acc = mpu.get_acc_angles()?;
//! println!("r/p: {:?}", acc);
//! //!
//! // get temp //! // get roll and pitch estimate - averaged accross n readings (steps)
//! let temp = mpu.get_temp()?; //! let acc = mpu.get_acc_angles_avg(Steps(5))?;
//! println!("r/p avg: {:?}", acc);
//! //!
//! // get temp - averages across n readings (steps) //! // get temp
//! let temp = mpu.get_temp_avg(Steps(5))?; //! let temp = mpu.get_temp()?;
//! println!("temp: {:?}c", temp);
//! //!
//! // get gyro data, scaled with sensitivity //! // get temp - averages across n readings (steps)
//! let gyro = mpu.get_gyro()?; //! let temp = mpu.get_temp_avg(Steps(5))?;
//! //! println!("temp avg: {:?}c", temp);
//! // get gyro data, scaled with sensitivity - averaged across n readings (steps) //!
//! let gyro = mpu.get_gyro_avg(Steps(5))?; //! // get gyro data, scaled with sensitivity
//! //! let gyro = mpu.get_gyro()?;
//! // get accelerometer data, scaled with sensitivity //! println!("gyro: {:?}", gyro);
//! let acc = mpu.get_acc()?; //!
//! //! // get gyro data, scaled with sensitivity - averaged across n readings (steps)
//! // get accelerometer data, scaled with sensitivity - averages across n readings (steps) //! let gyro = mpu.get_gyro_avg(Steps(5))?;
//! let acc = mpu.get_acc_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);
//! }
//!}
//! ``` //! ```
#![no_std] #![no_std]