diff --git a/viz/viz/Cargo.toml b/viz/viz/Cargo.toml
new file mode 100644
index 0000000..dbdb7f0
--- /dev/null
+++ b/viz/viz/Cargo.toml
@@ -0,0 +1,10 @@
+[package]
+name = "viz"
+version = "0.1.0"
+authors = ["Julian Gaal <juliangaal@protonmail.com>"]
+edition = "2018"
+
+[dependencies]
+mpu6050 = "0.1.0"
+i2cdev = "0.4.1"
+linux-embedded-hal = "0.2.2"
diff --git a/viz/viz/src/bin/recorder.rs b/viz/viz/src/bin/recorder.rs
new file mode 100644
index 0000000..d44e7c8
--- /dev/null
+++ b/viz/viz/src/bin/recorder.rs
@@ -0,0 +1,62 @@
+use mpu6050::*;
+use mpu6050::Error as Mpu6050Error;
+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()?;
+
+
+    let mut acc_file = new_file("acc_data.txt");
+    let mut gyro_file = new_file("gyro_data.txt");
+    let mut temp_file = new_file("temp_data.txt");
+    let mut angles_file = new_file("angles_data.txt");
+
+    loop {
+        // get roll and pitch estimate
+        let acc = mpu.get_acc_angles()?;
+        write_x_to(&mut angles_file, format!("{},{}", acc.0, acc.1));
+
+        // get temp
+        let temp = mpu.get_temp()?;
+        write_x_to(&mut temp_file, format!("{}", temp));
+
+        // get gyro data, scaled with sensitivity 
+        let gyro = mpu.get_gyro()?;
+        write_x_to(&mut gyro_file, format!("{} {} {}", gyro.0, gyro.1, gyro.2));
+        
+        // get accelerometer data, scaled with sensitivity
+        let acc = mpu.get_acc()?;
+        write_x_to(&mut acc_file, format!("{} {} {}", acc.0, acc.1, acc.2));
+    }
+}
diff --git a/viz/viz/target/.rustc_info.json b/viz/viz/target/.rustc_info.json
new file mode 100644
index 0000000..a45575f
--- /dev/null
+++ b/viz/viz/target/.rustc_info.json
@@ -0,0 +1 @@
+{"rustc_fingerprint":16477849714929411750,"outputs":{"15337506775154344876":["___\nlib___.rlib\nlib___.so\nlib___.so\nlib___.a\nlib___.so\n/home/julian/.rustup/toolchains/stable-x86_64-unknown-linux-gnu\ndebug_assertions\nproc_macro\ntarget_arch=\"x86_64\"\ntarget_endian=\"little\"\ntarget_env=\"gnu\"\ntarget_family=\"unix\"\ntarget_feature=\"fxsr\"\ntarget_feature=\"sse\"\ntarget_feature=\"sse2\"\ntarget_os=\"linux\"\ntarget_pointer_width=\"64\"\ntarget_vendor=\"unknown\"\nunix\n",""],"1164083562126845933":["rustc 1.34.0 (91856ed52 2019-04-10)\nbinary: rustc\ncommit-hash: 91856ed52c58aa5ba66a015354d1cc69e9779bdf\ncommit-date: 2019-04-10\nhost: x86_64-unknown-linux-gnu\nrelease: 1.34.0\nLLVM version: 8.0\n",""],"1617349019360157463":["___\nlib___.rlib\nlib___.so\nlib___.so\nlib___.a\nlib___.so\n/home/julian/.rustup/toolchains/stable-x86_64-unknown-linux-gnu\ndebug_assertions\nproc_macro\ntarget_arch=\"x86_64\"\ntarget_endian=\"little\"\ntarget_env=\"gnu\"\ntarget_family=\"unix\"\ntarget_feature=\"fxsr\"\ntarget_feature=\"sse\"\ntarget_feature=\"sse2\"\ntarget_os=\"linux\"\ntarget_pointer_width=\"64\"\ntarget_vendor=\"unknown\"\nunix\n",""]},"successes":{}}
\ No newline at end of file
diff --git a/viz/viz/target/debug/.cargo-lock b/viz/viz/target/debug/.cargo-lock
new file mode 100644
index 0000000..e69de29
diff --git a/viz/viz/target/debug/.fingerprint/bitflags-bd88ddfb17b914ba/dep-lib-bitflags-bd88ddfb17b914ba b/viz/viz/target/debug/.fingerprint/bitflags-bd88ddfb17b914ba/dep-lib-bitflags-bd88ddfb17b914ba
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index 0000000..e00328d
--- /dev/null
+++ b/viz/viz/target/debug/.fingerprint/bitflags-bd88ddfb17b914ba/invoked.timestamp
@@ -0,0 +1 @@
+This file has an mtime of when this was started.
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diff --git a/viz/viz/target/debug/.fingerprint/bitflags-bd88ddfb17b914ba/lib-bitflags-bd88ddfb17b914ba b/viz/viz/target/debug/.fingerprint/bitflags-bd88ddfb17b914ba/lib-bitflags-bd88ddfb17b914ba
new file mode 100644
index 0000000..13a955a
--- /dev/null
+++ b/viz/viz/target/debug/.fingerprint/bitflags-bd88ddfb17b914ba/lib-bitflags-bd88ddfb17b914ba
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/viz/viz/target/debug/.fingerprint/bitflags-bd88ddfb17b914ba/lib-bitflags-bd88ddfb17b914ba.json b/viz/viz/target/debug/.fingerprint/bitflags-bd88ddfb17b914ba/lib-bitflags-bd88ddfb17b914ba.json
new file mode 100644
index 0000000..8d6168c
--- /dev/null
+++ b/viz/viz/target/debug/.fingerprint/bitflags-bd88ddfb17b914ba/lib-bitflags-bd88ddfb17b914ba.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/viz/viz/target/debug/.fingerprint/bitflags-d8d444dd4cb152e3/dep-lib-bitflags-d8d444dd4cb152e3 b/viz/viz/target/debug/.fingerprint/bitflags-d8d444dd4cb152e3/dep-lib-bitflags-d8d444dd4cb152e3
new file mode 100644
index 0000000..b8e6181
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diff --git a/viz/viz/target/debug/.fingerprint/bitflags-d8d444dd4cb152e3/invoked.timestamp b/viz/viz/target/debug/.fingerprint/bitflags-d8d444dd4cb152e3/invoked.timestamp
new file mode 100644
index 0000000..e00328d
--- /dev/null
+++ b/viz/viz/target/debug/.fingerprint/bitflags-d8d444dd4cb152e3/invoked.timestamp
@@ -0,0 +1 @@
+This file has an mtime of when this was started.
\ No newline at end of file
diff --git a/viz/viz/target/debug/.fingerprint/bitflags-d8d444dd4cb152e3/lib-bitflags-d8d444dd4cb152e3 b/viz/viz/target/debug/.fingerprint/bitflags-d8d444dd4cb152e3/lib-bitflags-d8d444dd4cb152e3
new file mode 100644
index 0000000..3671840
--- /dev/null
+++ b/viz/viz/target/debug/.fingerprint/bitflags-d8d444dd4cb152e3/lib-bitflags-d8d444dd4cb152e3
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/viz/viz/target/debug/.fingerprint/bitflags-d8d444dd4cb152e3/lib-bitflags-d8d444dd4cb152e3.json b/viz/viz/target/debug/.fingerprint/bitflags-d8d444dd4cb152e3/lib-bitflags-d8d444dd4cb152e3.json
new file mode 100644
index 0000000..7557753
--- /dev/null
+++ b/viz/viz/target/debug/.fingerprint/bitflags-d8d444dd4cb152e3/lib-bitflags-d8d444dd4cb152e3.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/viz/viz/target/debug/.fingerprint/bitflags-f5d2bb560679010b/dep-lib-bitflags-f5d2bb560679010b b/viz/viz/target/debug/.fingerprint/bitflags-f5d2bb560679010b/dep-lib-bitflags-f5d2bb560679010b
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diff --git a/viz/viz/target/debug/.fingerprint/bitflags-f5d2bb560679010b/invoked.timestamp b/viz/viz/target/debug/.fingerprint/bitflags-f5d2bb560679010b/invoked.timestamp
new file mode 100644
index 0000000..e00328d
--- /dev/null
+++ b/viz/viz/target/debug/.fingerprint/bitflags-f5d2bb560679010b/invoked.timestamp
@@ -0,0 +1 @@
+This file has an mtime of when this was started.
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diff --git a/viz/viz/target/debug/.fingerprint/bitflags-f5d2bb560679010b/lib-bitflags-f5d2bb560679010b b/viz/viz/target/debug/.fingerprint/bitflags-f5d2bb560679010b/lib-bitflags-f5d2bb560679010b
new file mode 100644
index 0000000..66717f3
--- /dev/null
+++ b/viz/viz/target/debug/.fingerprint/bitflags-f5d2bb560679010b/lib-bitflags-f5d2bb560679010b
@@ -0,0 +1 @@
+1092f2f20b25e79b
\ No newline at end of file
diff --git a/viz/viz/target/debug/.fingerprint/bitflags-f5d2bb560679010b/lib-bitflags-f5d2bb560679010b.json b/viz/viz/target/debug/.fingerprint/bitflags-f5d2bb560679010b/lib-bitflags-f5d2bb560679010b.json
new file mode 100644
index 0000000..3ed8def
--- /dev/null
+++ b/viz/viz/target/debug/.fingerprint/bitflags-f5d2bb560679010b/lib-bitflags-f5d2bb560679010b.json
@@ -0,0 +1 @@
+{"rustc":804226499018287853,"features":"[]","target":7001212489759244422,"profile":9935990280773120926,"path":17427132433695158890,"deps":[],"local":[{"Precalculated":"0.4.0"}],"rustflags":[],"edition":"Edition2015"}
\ No newline at end of file
diff --git a/viz/viz/target/debug/.fingerprint/byteorder-3d779f97623d02dc/dep-lib-byteorder-3d779f97623d02dc b/viz/viz/target/debug/.fingerprint/byteorder-3d779f97623d02dc/dep-lib-byteorder-3d779f97623d02dc
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diff --git a/viz/viz/target/debug/.fingerprint/byteorder-3d779f97623d02dc/invoked.timestamp b/viz/viz/target/debug/.fingerprint/byteorder-3d779f97623d02dc/invoked.timestamp
new file mode 100644
index 0000000..e00328d
--- /dev/null
+++ b/viz/viz/target/debug/.fingerprint/byteorder-3d779f97623d02dc/invoked.timestamp
@@ -0,0 +1 @@
+This file has an mtime of when this was started.
\ No newline at end of file
diff --git a/viz/viz/target/debug/.fingerprint/byteorder-3d779f97623d02dc/lib-byteorder-3d779f97623d02dc b/viz/viz/target/debug/.fingerprint/byteorder-3d779f97623d02dc/lib-byteorder-3d779f97623d02dc
new file mode 100644
index 0000000..ef6c8f0
--- /dev/null
+++ b/viz/viz/target/debug/.fingerprint/byteorder-3d779f97623d02dc/lib-byteorder-3d779f97623d02dc
@@ -0,0 +1 @@
+e4d157ca768f288b
\ No newline at end of file
diff --git a/viz/viz/target/debug/.fingerprint/byteorder-3d779f97623d02dc/lib-byteorder-3d779f97623d02dc.json b/viz/viz/target/debug/.fingerprint/byteorder-3d779f97623d02dc/lib-byteorder-3d779f97623d02dc.json
new file mode 100644
index 0000000..2a739d1
--- /dev/null
+++ b/viz/viz/target/debug/.fingerprint/byteorder-3d779f97623d02dc/lib-byteorder-3d779f97623d02dc.json
@@ -0,0 +1 @@
+{"rustc":804226499018287853,"features":"[\"default\", \"std\"]","target":12042902509987818770,"profile":9935990280773120926,"path":9745575622455250394,"deps":[],"local":[{"Precalculated":"1.3.1"}],"rustflags":[],"edition":"Edition2015"}
\ No newline at end of file
diff --git a/viz/viz/target/debug/.fingerprint/byteorder-5f688287b8cd8462/build b/viz/viz/target/debug/.fingerprint/byteorder-5f688287b8cd8462/build
new file mode 100644
index 0000000..d703c30
--- /dev/null
+++ b/viz/viz/target/debug/.fingerprint/byteorder-5f688287b8cd8462/build
@@ -0,0 +1 @@
+6175fb72752610d6
\ No newline at end of file
diff --git a/viz/viz/target/debug/.fingerprint/byteorder-5f688287b8cd8462/build.json b/viz/viz/target/debug/.fingerprint/byteorder-5f688287b8cd8462/build.json
new file mode 100644
index 0000000..317918a
--- /dev/null
+++ b/viz/viz/target/debug/.fingerprint/byteorder-5f688287b8cd8462/build.json
@@ -0,0 +1 @@
+{"rustc":804226499018287853,"features":"","target":0,"profile":0,"path":0,"deps":[],"local":[{"Precalculated":"1.3.1"}],"rustflags":[],"edition":"Edition2015"}
\ No newline at end of file
diff --git a/viz/viz/target/debug/.fingerprint/byteorder-718e5d33833ac044/build-script-build_script_build-718e5d33833ac044 b/viz/viz/target/debug/.fingerprint/byteorder-718e5d33833ac044/build-script-build_script_build-718e5d33833ac044
new file mode 100644
index 0000000..7672545
--- /dev/null
+++ b/viz/viz/target/debug/.fingerprint/byteorder-718e5d33833ac044/build-script-build_script_build-718e5d33833ac044
@@ -0,0 +1 @@
+49250bd5ce39d70d
\ No newline at end of file
diff --git a/viz/viz/target/debug/.fingerprint/byteorder-718e5d33833ac044/build-script-build_script_build-718e5d33833ac044.json b/viz/viz/target/debug/.fingerprint/byteorder-718e5d33833ac044/build-script-build_script_build-718e5d33833ac044.json
new file mode 100644
index 0000000..09505fa
--- /dev/null
+++ b/viz/viz/target/debug/.fingerprint/byteorder-718e5d33833ac044/build-script-build_script_build-718e5d33833ac044.json
@@ -0,0 +1 @@
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diff --git a/viz/viz/target/debug/.fingerprint/byteorder-718e5d33833ac044/dep-build-script-build_script_build-718e5d33833ac044 b/viz/viz/target/debug/.fingerprint/byteorder-718e5d33833ac044/dep-build-script-build_script_build-718e5d33833ac044
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index 0000000..1b1b374
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new file mode 100644
index 0000000..e00328d
--- /dev/null
+++ b/viz/viz/target/debug/.fingerprint/byteorder-718e5d33833ac044/invoked.timestamp
@@ -0,0 +1 @@
+This file has an mtime of when this was started.
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diff --git a/viz/viz/target/debug/.fingerprint/bytes-0193d9f58e0a5538/dep-lib-bytes-0193d9f58e0a5538 b/viz/viz/target/debug/.fingerprint/bytes-0193d9f58e0a5538/dep-lib-bytes-0193d9f58e0a5538
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diff --git a/viz/viz/target/debug/.fingerprint/bytes-0193d9f58e0a5538/invoked.timestamp b/viz/viz/target/debug/.fingerprint/bytes-0193d9f58e0a5538/invoked.timestamp
new file mode 100644
index 0000000..e00328d
--- /dev/null
+++ b/viz/viz/target/debug/.fingerprint/bytes-0193d9f58e0a5538/invoked.timestamp
@@ -0,0 +1 @@
+This file has an mtime of when this was started.
\ No newline at end of file
diff --git a/viz/viz/target/debug/.fingerprint/bytes-0193d9f58e0a5538/lib-bytes-0193d9f58e0a5538 b/viz/viz/target/debug/.fingerprint/bytes-0193d9f58e0a5538/lib-bytes-0193d9f58e0a5538
new file mode 100644
index 0000000..0e3eab2
--- /dev/null
+++ b/viz/viz/target/debug/.fingerprint/bytes-0193d9f58e0a5538/lib-bytes-0193d9f58e0a5538
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/viz/viz/target/debug/.fingerprint/bytes-0193d9f58e0a5538/lib-bytes-0193d9f58e0a5538.json b/viz/viz/target/debug/.fingerprint/bytes-0193d9f58e0a5538/lib-bytes-0193d9f58e0a5538.json
new file mode 100644
index 0000000..bfa27c9
--- /dev/null
+++ b/viz/viz/target/debug/.fingerprint/bytes-0193d9f58e0a5538/lib-bytes-0193d9f58e0a5538.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/viz/viz/target/debug/.fingerprint/cast-4cd1919e2ddf136c/dep-lib-cast-4cd1919e2ddf136c b/viz/viz/target/debug/.fingerprint/cast-4cd1919e2ddf136c/dep-lib-cast-4cd1919e2ddf136c
new file mode 100644
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diff --git a/viz/viz/target/debug/.fingerprint/cast-4cd1919e2ddf136c/invoked.timestamp b/viz/viz/target/debug/.fingerprint/cast-4cd1919e2ddf136c/invoked.timestamp
new file mode 100644
index 0000000..e00328d
--- /dev/null
+++ b/viz/viz/target/debug/.fingerprint/cast-4cd1919e2ddf136c/invoked.timestamp
@@ -0,0 +1 @@
+This file has an mtime of when this was started.
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diff --git a/viz/viz/target/debug/.fingerprint/cast-4cd1919e2ddf136c/lib-cast-4cd1919e2ddf136c b/viz/viz/target/debug/.fingerprint/cast-4cd1919e2ddf136c/lib-cast-4cd1919e2ddf136c
new file mode 100644
index 0000000..9f353af
--- /dev/null
+++ b/viz/viz/target/debug/.fingerprint/cast-4cd1919e2ddf136c/lib-cast-4cd1919e2ddf136c
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/viz/viz/target/debug/.fingerprint/cast-4cd1919e2ddf136c/lib-cast-4cd1919e2ddf136c.json b/viz/viz/target/debug/.fingerprint/cast-4cd1919e2ddf136c/lib-cast-4cd1919e2ddf136c.json
new file mode 100644
index 0000000..0f2c557
--- /dev/null
+++ b/viz/viz/target/debug/.fingerprint/cast-4cd1919e2ddf136c/lib-cast-4cd1919e2ddf136c.json
@@ -0,0 +1 @@
+{"rustc":804226499018287853,"features":"[]","target":16332793819020931523,"profile":9935990280773120926,"path":9808958079356095173,"deps":[],"local":[{"Precalculated":"0.2.2"}],"rustflags":[],"edition":"Edition2015"}
\ No newline at end of file
diff --git a/viz/viz/target/debug/.fingerprint/cfg-if-56e265b2b5e72fa7/dep-lib-cfg_if-56e265b2b5e72fa7 b/viz/viz/target/debug/.fingerprint/cfg-if-56e265b2b5e72fa7/dep-lib-cfg_if-56e265b2b5e72fa7
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new file mode 100644
index 0000000..e00328d
--- /dev/null
+++ b/viz/viz/target/debug/.fingerprint/cfg-if-56e265b2b5e72fa7/invoked.timestamp
@@ -0,0 +1 @@
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new file mode 100644
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diff --git a/viz/viz/target/debug/deps/nix-0fb00aabd728cc7d.d b/viz/viz/target/debug/deps/nix-0fb00aabd728cc7d.d
new file mode 100644
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diff --git a/viz/viz/target/debug/deps/nix-c47fce5b3197a651.d b/viz/viz/target/debug/deps/nix-c47fce5b3197a651.d
new file mode 100644
index 0000000..d0bf8ec
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diff --git a/viz/viz/target/debug/deps/nix-ccf2e3b0560aebfa.d b/viz/viz/target/debug/deps/nix-ccf2e3b0560aebfa.d
new file mode 100644
index 0000000..78a5aae
--- /dev/null
+++ b/viz/viz/target/debug/deps/nix-ccf2e3b0560aebfa.d
@@ -0,0 +1,46 @@
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diff --git a/viz/viz/target/debug/deps/recorder-e1e333c8a859c2a3 b/viz/viz/target/debug/deps/recorder-e1e333c8a859c2a3
new file mode 100755
index 0000000..85c8aaf
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diff --git a/viz/viz/target/debug/deps/recorder-e1e333c8a859c2a3.d b/viz/viz/target/debug/deps/recorder-e1e333c8a859c2a3.d
new file mode 100644
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diff --git a/viz/viz/target/debug/deps/rustc_version-c7d7e57687c7e4a8.d b/viz/viz/target/debug/deps/rustc_version-c7d7e57687c7e4a8.d
new file mode 100644
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--- /dev/null
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diff --git a/viz/viz/target/debug/deps/semver-232dc629de35df29.d b/viz/viz/target/debug/deps/semver-232dc629de35df29.d
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diff --git a/viz/viz/target/debug/deps/spidev-488fa2d7437d8248.d b/viz/viz/target/debug/deps/spidev-488fa2d7437d8248.d
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diff --git a/viz/viz/target/debug/deps/sysfs_gpio-953fae6fac42a4ff.d b/viz/viz/target/debug/deps/sysfs_gpio-953fae6fac42a4ff.d
new file mode 100644
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--- /dev/null
+++ b/viz/viz/target/debug/deps/sysfs_gpio-953fae6fac42a4ff.d
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+/home/julian/dev/mpu6050/viz/viz/target/debug/deps/sysfs_gpio-953fae6fac42a4ff.d: /home/julian/.cargo/registry/src/github.com-1ecc6299db9ec823/sysfs_gpio-0.5.3/src/lib.rs /home/julian/.cargo/registry/src/github.com-1ecc6299db9ec823/sysfs_gpio-0.5.3/src/error.rs
+
+/home/julian/.cargo/registry/src/github.com-1ecc6299db9ec823/sysfs_gpio-0.5.3/src/lib.rs:
+/home/julian/.cargo/registry/src/github.com-1ecc6299db9ec823/sysfs_gpio-0.5.3/src/error.rs:
diff --git a/viz/viz/target/debug/deps/void-673327d14698594d.d b/viz/viz/target/debug/deps/void-673327d14698594d.d
new file mode 100644
index 0000000..e9ab738
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+++ b/viz/viz/target/debug/deps/void-673327d14698594d.d
@@ -0,0 +1,5 @@
+/home/julian/dev/mpu6050/viz/viz/target/debug/deps/libvoid-673327d14698594d.rlib: /home/julian/.cargo/registry/src/github.com-1ecc6299db9ec823/void-1.0.2/src/lib.rs
+
+/home/julian/dev/mpu6050/viz/viz/target/debug/deps/void-673327d14698594d.d: /home/julian/.cargo/registry/src/github.com-1ecc6299db9ec823/void-1.0.2/src/lib.rs
+
+/home/julian/.cargo/registry/src/github.com-1ecc6299db9ec823/void-1.0.2/src/lib.rs:
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+/home/julian/dev/mpu6050/viz/viz/target/debug/recorder: /home/julian/dev/mpu6050/viz/viz/src/bin/recorder.rs