cleans up lifetimes and ownership

flight/src/hardware/mod.rs

@@ -1,8 +1,11 @@
+use crate::hardware::mcp23017::Mcp23017;
 use anyhow::Result;
-use embedded_hal::i2c::I2c;
 
 pub trait Hardware {
-    fn set_mcp0_pin(&self, pin: u8, value: bool) -> Result<()>;
+
+    fn get_mcp23017_a(&self) -> impl Mcp23017;
+    fn get_mcp23017_b(&self) -> impl Mcp23017;
+
     fn get_battery_voltage(&self) -> Result<f64>;
 }
 
@@ -34,5 +37,5 @@ mod bno085;
 mod imu;
 mod error;
 
-mod mcp23017;
+pub mod mcp23017;
 mod mcp3208;