From 929d70a63626945e9498be4a54ab9ae8408efe6b Mon Sep 17 00:00:00 2001
From: juliangaal <juliangaal@protonmail.com>
Date: Wed, 24 Apr 2019 16:02:40 +0200
Subject: [PATCH] adapt recorder and record averaged values

---
 viz/viz/src/bin/avg_recorder.rs | 64 +++++++++++++++++++++++++++++++++
 viz/viz/src/bin/recorder.rs     | 10 +++---
 2 files changed, 69 insertions(+), 5 deletions(-)
 create mode 100644 viz/viz/src/bin/avg_recorder.rs

diff --git a/viz/viz/src/bin/avg_recorder.rs b/viz/viz/src/bin/avg_recorder.rs
new file mode 100644
index 0000000..7fa0905
--- /dev/null
+++ b/viz/viz/src/bin/avg_recorder.rs
@@ -0,0 +1,64 @@
+use mpu6050::*;
+use linux_embedded_hal::{I2cdev, Delay};
+use i2cdev::linux::LinuxI2CError;
+use std::io::prelude::*;
+use std::fs::File;
+use std::path::Path;
+use std::error::Error;
+
+fn new_file(name: &str) -> File {
+    let path = Path::new(name);
+    let display = path.display();
+    let _file = match File::create(&path) {
+        Err(why) => panic!("couldn't create {}: {}",
+                           display,
+                           why.description()),
+        Ok(file) => return file,
+    };
+}
+
+fn write_x_to(file: &mut File, content: String) {
+    match file.write_all(content.as_bytes()) {
+        Err(why) => {
+            println!("couldn't write to file: {}", why.description());
+        },
+        Ok(_) => {},
+    }
+}
+
+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(200))?;
+    mpu.calc_variance(Steps(200))?;
+
+    println!("Calculated variance: {:?}", mpu.get_variance().unwrap());
+
+    let mut acc_file = new_file("acc_data_avg.txt");
+    let mut gyro_file = new_file("gyro_data_avg.txt");
+    let mut temp_file = new_file("temp_data_avg.txt");
+    let mut angles_file = new_file("angles_data_avg.txt");
+
+    loop {
+        // get roll and pitch estimate
+        let acc = mpu.get_acc_angles_avg(Steps(5))?;
+        write_x_to(&mut angles_file, format!("{},{}\n", acc.roll, acc.pitch));
+
+        // get temp
+        let temp = mpu.get_temp_avg(Steps(5))?;
+        write_x_to(&mut temp_file, format!("{}\n", temp));
+
+        // get gyro data, scaled with sensitivity 
+        let gyro = mpu.get_gyro_avg(Steps(5))?;
+        write_x_to(&mut gyro_file, format!("{},{},{}\n", gyro.x, gyro.y, gyro.z));
+       
+        // get accelerometer data, scaled with sensitivity
+        let acc = mpu.get_acc_avg(Steps(5))?;
+        write_x_to(&mut acc_file, format!("{},{},{}\n", acc.x, acc.y, acc.z));
+    }
+}
diff --git a/viz/viz/src/bin/recorder.rs b/viz/viz/src/bin/recorder.rs
index f2ebf27..99cf8d9 100644
--- a/viz/viz/src/bin/recorder.rs
+++ b/viz/viz/src/bin/recorder.rs
@@ -34,8 +34,8 @@ fn main() -> Result<(), Mpu6050Error<LinuxI2CError>> {
 
     let mut mpu = Mpu6050::new(i2c, delay);
     mpu.init()?;
-    mpu.soft_calib(200)?;
-    mpu.calc_variance(200)?;
+    mpu.soft_calib(Steps(200))?;
+    mpu.calc_variance(Steps(200))?;
 
     println!("Calculated variance: {:?}", mpu.get_variance().unwrap());
 
@@ -47,7 +47,7 @@ fn main() -> Result<(), Mpu6050Error<LinuxI2CError>> {
     loop {
         // get roll and pitch estimate
         let acc = mpu.get_acc_angles()?;
-        write_x_to(&mut angles_file, format!("{},{}\n", acc.0, acc.1));
+        write_x_to(&mut angles_file, format!("{},{}\n", acc.roll, acc.pitch));
 
         // get temp
         let temp = mpu.get_temp()?;
@@ -55,10 +55,10 @@ fn main() -> Result<(), Mpu6050Error<LinuxI2CError>> {
 
         // get gyro data, scaled with sensitivity 
         let gyro = mpu.get_gyro()?;
-        write_x_to(&mut gyro_file, format!("{},{},{}\n", gyro.0, gyro.1, gyro.2));
+        write_x_to(&mut gyro_file, format!("{},{},{}\n", gyro.x, gyro.y, gyro.z));
        
         // get accelerometer data, scaled with sensitivity
         let acc = mpu.get_acc()?;
-        write_x_to(&mut acc_file, format!("{},{},{}\n", acc.0, acc.1, acc.2));
+        write_x_to(&mut acc_file, format!("{},{},{}\n", acc.x, acc.y, acc.z));
     }
 }