pr fixes

Cargo.toml

@@ -22,7 +22,7 @@ defmt = "0.3"
 defmt-rtt = "0.4"
 panic-probe = { version = "0.3", features = ["print-defmt"] }
 micromath = { version = "2.1", features = ["vector"] }
-mpu6050 = { git = "https://github.com/michaelkamprath/mpu6050.git", branch = "micromath", features = [
+mpu6050 = { git = "https://github.com/michaelkamprath/mpu6050.git", branch = "embedded-hal-upgrade", features = [
     "defmt",
 ] }
 embedded-alloc = "0.6"
@@ -96,6 +96,6 @@ lto = 'fat'
 opt-level = 3
 
 [patch."https://github.com/michaelkamprath/mpu6050.git"]
-mpu6050 = { path = "../mpu6050" }
+# mpu6050 = { path = "../mpu6050" }
 
 [patch.crates-io]

src/main.rs

@@ -8,7 +8,6 @@ mod system;
 use core::cell::RefCell;
 use defmt::{error, info, panic};
 use defmt_rtt as _;
-use embedded_alloc::LlffHeap as Heap;
 use panic_probe as _;
 
 // Provide an alias for our BSP so we can switch targets quickly.
@@ -32,7 +31,6 @@ use driver::Driver;
 use system::millis::init_millis;
 extern crate alloc;
 
-
 use embedded_alloc::TlsfHeap as Heap;
 #[global_allocator]
 static HEAP: Heap = Heap::empty();

src/robot.rs

@@ -365,12 +365,6 @@ where
         cortex_m::interrupt::free(|cs| RIGHT_WHEEL_COUNTER.borrow(cs).get())
     }
 
-    /// Returns a duty value normalized to the max duty of the motor.
-    /// The duty is clamped to the range [0, 1].
-    fn noramlize_duty(&self, duty: f32) -> u16 {
-        (duty.clamp(0.0, 1.0) * self.motors.enable_pin_a().get_max_duty() as f32) as u16
-    }
-
     /// returns true if the button 1 is newly pressed
     pub fn button1_pressed(&mut self) -> bool {
         self.button1.is_newly_pressed()