Struct Movement 

pub struct Movement<I2C> { /* private fields */ }

Driver for the Modulino Movement module (LSM6DSOX IMU).

Example

use modulino::Movement;

let mut movement = Movement::new(i2c)?;

// Read acceleration
let accel = movement.acceleration()?;
println!("Accel: x={:.2}g, y={:.2}g, z={:.2}g", accel.x, accel.y, accel.z);

// Read angular velocity
let gyro = movement.angular_velocity()?;
println!("Gyro: x={:.2}dps, y={:.2}dps, z={:.2}dps", gyro.x, gyro.y, gyro.z);

Implementations

impl<I2C, E> Movement<I2C>

where I2C: I2c<Error = E>,

pub fn new(i2c: I2C) -> Result<Self, E>

Create a new Movement instance with the default address (0x6A).

pub fn new_with_address(i2c: I2C, address: u8) -> Result<Self, E>

Create a new Movement instance with a custom address.

Valid addresses are 0x6A or 0x6B depending on the SA0 pin configuration.

pub fn address(&self) -> u8

Get the I2C address.

pub fn acceleration(&mut self) -> Result<MovementValues, E>

Read acceleration values.

Returns acceleration in g (gravitational units).

pub fn acceleration_magnitude(&mut self) -> Result<f32, E>

Get the magnitude of acceleration.

When at rest on Earth, this should be approximately 1.0g due to gravity.

pub fn angular_velocity(&mut self) -> Result<MovementValues, E>

Read angular velocity (gyroscope) values.

Returns angular velocity in degrees per second (dps).

pub fn gyro(&mut self) -> Result<MovementValues, E>

Alias for angular_velocity().

pub fn data_ready(&mut self) -> Result<bool, E>

Check if new data is available.

pub fn release(self) -> I2C

Release the I2C bus.