Add call to gyro demo function

UCI-HyperXite · May 18, 2024 · a0fbb11 · a0fbb11
1 parent 2cdf0ec
commit a0fbb11
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Showing 3 changed files with 55 additions and 49 deletions.
diff --git a/pod-operation/src/components/gyro.rs b/pod-operation/src/components/gyro.rs
@@ -2,26 +2,26 @@ use mpu6050::Mpu6050;
 use rppal::i2c::I2c;
 
 pub struct Gyroscope {
-    mpu6050: Mpu6050<I2c>,
+	mpu6050: Mpu6050<I2c>,
 }
 
 pub struct Orientation {
-    pub pitch: f32,
-    pub roll: f32,
+	pub pitch: f32,
+	pub roll: f32,
 }
 
 impl Gyroscope {
-    pub fn new() -> Self {
-        let i2c = I2c::new().unwrap();
-        let mpu6050 = Mpu6050::new(i2c);
-        Gyroscope { mpu6050 }
-    }
+	pub fn new() -> Self {
+		let i2c = I2c::new().unwrap();
+		let mpu6050 = Mpu6050::new(i2c);
+		Gyroscope { mpu6050 }
+	}
 
-    pub fn read_orientation(&mut self) -> Orientation {
-        let acc = self.mpu6050.get_acc_angles().unwrap();
-        Orientation {
-            pitch: acc[0],
-            roll: acc[1],
-        }
-    }
+	pub fn read_orientation(&mut self) -> Orientation {
+		let acc = self.mpu6050.get_acc_angles().unwrap();
+		Orientation {
+			pitch: acc[0],
+			roll: acc[1],
+		}
+	}
 }
diff --git a/pod-operation/src/demo.rs b/pod-operation/src/demo.rs
@@ -1,28 +1,28 @@
 use tracing::info;
 
+use crate::components::gyro::Gyroscope;
 use crate::components::lim_temperature::LimTemperature;
 use crate::components::pressure_transducer::PressureTransducer;
 use crate::components::signal_light::SignalLight;
-use crate::components::gyro::Gyroscope;
 
 pub async fn blink(mut signal_light: SignalLight) {
-    let mut i = 0;
-
-    info!("Starting blink demo.");
-    loop {
-        tokio::time::sleep(std::time::Duration::from_millis(500)).await;
-        if i % 4 == 0 {
-            signal_light.enable();
-        } else if i % 4 == 1 {
-            signal_light.disable();
-        }
-
-        i += 1;
-    }
+	let mut i = 0;
+
+	info!("Starting blink demo.");
+	loop {
+		tokio::time::sleep(std::time::Duration::from_millis(500)).await;
+		if i % 4 == 0 {
+			signal_light.enable();
+		} else if i % 4 == 1 {
+			signal_light.disable();
+		}
+
+		i += 1;
+	}
 }
 
 pub async fn read_pressure_transducer(mut pressure_transducer: PressureTransducer) {
-    info!("Starting pressure transducer demo.");
+	info!("Starting pressure transducer demo.");
 
 	loop {
 		tokio::time::sleep(std::time::Duration::new(1, 0)).await;
@@ -31,7 +31,7 @@ pub async fn read_pressure_transducer(mut pressure_transducer: PressureTransduce
 }
 
 pub async fn read_ads1015(mut lim_temperature: LimTemperature) {
-    info!("Starting ADS1015 Demo.");
+	info!("Starting ADS1015 Demo.");
 
 	let mut i = 0;
 	loop {
@@ -43,16 +43,19 @@ pub async fn read_ads1015(mut lim_temperature: LimTemperature) {
 		}
 	}
 
-    lim_temperature.cleanup();
+	lim_temperature.cleanup();
 }
 
 pub async fn read_gyroscope(mut gyroscope: Gyroscope) {
-    info!("Starting Gyroscope Demo.");
-    tokio::spawn(async move {
-        loop {
-            let orientation = gyroscope.read_orientation();
-            tokio::time::sleep(std::time::Duration::from_millis(100)).await;
-            println!("Pitch: {:?}, Roll: {:?}", orientation.pitch, orientation.roll);
-        }
-    });
+	info!("Starting Gyroscope Demo.");
+	tokio::spawn(async move {
+		loop {
+			let orientation = gyroscope.read_orientation();
+			tokio::time::sleep(std::time::Duration::from_millis(100)).await;
+			println!(
+				"Pitch: {:?}, Roll: {:?}",
+				orientation.pitch, orientation.roll
+			);
+		}
+	});
 }
diff --git a/pod-operation/src/main.rs b/pod-operation/src/main.rs
@@ -15,9 +15,9 @@ use crate::state_machine::StateMachine;
 
 #[tokio::main]
 async fn main() -> Result<(), Box<dyn std::error::Error>> {
-    tracing::subscriber::set_global_default(FmtSubscriber::default())?;
+	tracing::subscriber::set_global_default(FmtSubscriber::default())?;
 
-    let (layer, io) = SocketIo::new_layer();
+	let (layer, io) = SocketIo::new_layer();
 
 	let signal_light = SignalLight::new();
 	tokio::spawn(demo::blink(signal_light));
@@ -33,20 +33,23 @@ async fn main() -> Result<(), Box<dyn std::error::Error>> {
 	let ads1015 = LimTemperature::new(ads1x1x::SlaveAddr::Default);
 	tokio::spawn(demo::read_ads1015(ads1015));
 
+	let gyro: Gyroscope = Gyroscope::new();
+	tokio::spawn(demo::read_gyroscope(gyro));
+
 	tokio::spawn(async {
 		let mut state_machine = StateMachine::new(io);
 		state_machine.run().await;
 	});
 
-    let app = axum::Router::new().layer(layer);
+	let app = axum::Router::new().layer(layer);
 
-    info!("Starting server on port 5000");
+	info!("Starting server on port 5000");
 
-    let server = Server::bind(&"127.0.0.1:5000".parse().unwrap()).serve(app.into_make_service());
+	let server = Server::bind(&"127.0.0.1:5000".parse().unwrap()).serve(app.into_make_service());
 
-    if let Err(e) = server.await {
-        error!("server error: {}", e);
-    }
+	if let Err(e) = server.await {
+		error!("server error: {}", e);
+	}
 
-    Ok(())
+	Ok(())
 }