code cleanup.

src/calibration.rs

@@ -59,7 +59,7 @@ where
     E: Debug,
 {
     let data = get_data(sensor, display, timer);
-    return calibrate(&data);
+    calibrate(&data)
 }
 
 fn get_data<I, T, E>(
@@ -124,7 +124,7 @@ where
         }
         display.show(timer, leds, 200);
     }
-    return data;
+    data
 }
 
 fn difference_square(a: Measurement, b: Measurement) -> f32 {
@@ -164,9 +164,9 @@ fn calibrate(data: &[Measurement]) -> Calibration {
         center.z += point.z;
     }
 
-    center.x = center.x / data.len() as i32;
-    center.y = center.y / data.len() as i32;
-    center.z = center.z / data.len() as i32;
+    center.x /= data.len() as i32;
+    center.y /= data.len() as i32;
+    center.z /= data.len() as i32;
 
     let mut current = center;
     let mut score = measure_score(current, data);

src/led.rs

@@ -13,6 +13,7 @@ pub enum Direction {
     NorthWest,
 }
 
+//forward is towards usb port
 const NORTH: [[u8; 5]; 5] = [
     [0, 0, 1, 0, 0],
     [0, 1, 1, 1, 0],

src/line_drawing.rs

@@ -1,6 +1,6 @@
 use core::mem::swap;
 
-pub struct Point {
+struct Point {
     x: isize,
     y: isize,
 }
@@ -9,7 +9,7 @@ impl Point {
     /// converts a point (representing a point on a 4 quadrant grid) into a upoint (representing a
     /// point on a 1 quadrant grid with the origin in the bottom-left corner). Returns none if
     /// the resulting point would have either number negative.
-    pub fn to_upoint(&self, zero_coord: &UPoint) -> Option<UPoint> {
+    fn to_upoint(&self, zero_coord: &UPoint) -> Option<UPoint> {
         Some(UPoint {
             x: zero_coord.x.checked_add_signed(self.x)?,
             y: zero_coord.y.checked_add_signed(self.y)?,
@@ -17,7 +17,7 @@ impl Point {
     }
 }
 
-pub struct UPoint {
+struct UPoint {
     x: usize,
     y: usize,
 }
@@ -33,7 +33,7 @@ impl UPoint {
     }
 }
 
-pub fn draw_line<const X: usize, const Y: usize>(
+fn draw_line<const X: usize, const Y: usize>(
     mut p0: Point,
     mut p1: Point,
     matrix: &mut [[u8; X]; Y],
@@ -70,3 +70,7 @@ pub fn draw_line<const X: usize, const Y: usize>(
         }
     }
 }
+
+fn heading_to_sector(sectors: u8, heading: f32) -> u8 {
+    todo!()
+}

src/tilt_compensation.rs

@@ -14,7 +14,8 @@ pub struct NedMeasurement {
     pub z: f32,
 }
 
-//theta=0 at north, pi/-pi at south, pi/2 at east, and -pi/2 at west
+//theta=0 at north, pi/-pi at south, pi/2 at east, and -pi/2 at west (desired)
+//theta=0 at south, pi/-pi at north, pi/2 at east, and -pi/2 at west (current)
 pub struct Heading(pub f32);
 
 /// board has forward in the -y direction and right in the -x direction, and down in the -z. (SWU),  algs for tilt compensation
@@ -57,6 +58,7 @@ pub fn calc_tilt_calibrated_measurement(
     }
 }
 
+//0 is the top sector and positive is clockwise, negative is counterclockwise.
 pub fn heading_from_measurement(measurement: NedMeasurement) -> Heading {
     Heading(atan2f(-measurement.y, measurement.x))
 }