From fe6dcea9143f15bb0094f1a5f58f74fa92583ebf Mon Sep 17 00:00:00 2001
From: Michael Kamprath <michael@kamprath.net>
Date: Sun, 29 Sep 2024 21:01:57 -0700
Subject: [PATCH] pr fixes

---
 Cargo.toml   | 4 ++--
 src/main.rs  | 2 --
 src/robot.rs | 6 ------
 3 files changed, 2 insertions(+), 10 deletions(-)

diff --git a/Cargo.toml b/Cargo.toml
index 534aca8..c10373e 100644
--- a/Cargo.toml
+++ b/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]
diff --git a/src/main.rs b/src/main.rs
index f717a94..ff3584b 100644
--- a/src/main.rs
+++ b/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();
diff --git a/src/robot.rs b/src/robot.rs
index 2b1d472..7d10a59 100644
--- a/src/robot.rs
+++ b/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()