i2c: update mpu6050 for bus interface

Signed-off-by: deadprogram <[email protected]>

drivers/i2c/mpu6050_driver.go

@@ -45,18 +45,21 @@ type MPU6050Driver struct {
 }
 
 // NewMPU6050Driver creates a new driver with specified i2c interface
-func NewMPU6050Driver(a I2cConnector, v ...time.Duration) *MPU6050Driver {
+func NewMPU6050Driver(a I2cConnector, options ...func(I2cBusser)) *MPU6050Driver {
 	m := &MPU6050Driver{
-		name:      gobot.DefaultName("MPM6050"),
+		name:      gobot.DefaultName("MPU6050"),
 		connector: a,
+		I2cBusser: NewI2cBusser(),
 		interval:  10 * time.Millisecond,
 		Eventer:   gobot.NewEventer(),
 	}
 
-	if len(v) > 0 {
-		m.interval = v[0]
+	for _, option := range options {
+		option(m)
 	}
 
+	// TODO: add commands to API
+
 	m.AddEvent(Error)
 	return m
 }
@@ -100,7 +103,11 @@ func (h *MPU6050Driver) Start() (err error) {
 func (h *MPU6050Driver) Halt() (err error) { return }
 
 func (h *MPU6050Driver) initialize() (err error) {
-	bus := h.connector.I2cGetDefaultBus()
+	if h.GetBus() == BusNotInitialized {
+		h.Bus(h.connector.I2cGetDefaultBus())
+	}
+	bus := h.GetBus()
+
 	h.connection, err = h.connector.I2cGetConnection(mpu6050Address, bus)
 	if err != nil {
 		return err

drivers/i2c/mpu6050_driver_test.go

@@ -1,6 +1,7 @@
 package i2c
 
 import (
+	"strings"
 	"testing"
 	"time"
 
@@ -37,8 +38,11 @@ func TestMPU6050Driver(t *testing.T) {
 	gobottest.Refute(t, mpu.Connection(), nil)
 	gobottest.Assert(t, mpu.interval, 10*time.Millisecond)
 
-	mpu = NewMPU6050Driver(newI2cTestAdaptor(), 100*time.Millisecond)
-	gobottest.Assert(t, mpu.interval, 100*time.Millisecond)
+	mpu = NewMPU6050Driver(newI2cTestAdaptor(), Bus(2))
+	gobottest.Assert(t, mpu.GetBus(), 2)
+
+	gobottest.Refute(t, mpu.Connection(), nil)
+	gobottest.Assert(t, strings.HasPrefix(mpu.Name(), "MPU6050"), true)
 }
 
 // Methods