31 lines
810 B
Rust
31 lines
810 B
Rust
use mpu6050::*;
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use linux_embedded_hal::{I2cdev, Delay};
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use i2cdev::linux::LinuxI2CError;
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fn main() -> Result<(), Mpu6050Error<LinuxI2CError>> {
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let i2c = I2cdev::new("/dev/i2c-1")
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.map_err(Mpu6050Error::I2c)?;
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let mut delay = Delay;
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let mut mpu = Mpu6050::new(i2c);
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mpu.init(&mut delay)?;
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loop {
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// get roll and pitch estimate
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let acc = mpu.get_acc_angles()?;
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println!("r/p: {:?}", acc);
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// get temp
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let temp = mpu.get_temp()?;
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println!("temp: {:?}c", temp);
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// get gyro data, scaled with sensitivity
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let gyro = mpu.get_gyro()?;
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println!("gyro: {:?}", gyro);
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// get accelerometer data, scaled with sensitivity
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let acc = mpu.get_acc()?;
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println!("acc: {:?}", acc);
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}
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}
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