This gist is for showing an example of a custom wordpress menu.
If you want to get more from the menu item simply have a look at the $item object. i.e:
// Will return a large object with lots of props like title, url, description, id etc.
var_dump( $item );
This code works on Wordpress 4.1.1 as of 31st of March 2015
That code just doesn't work properly, I ended up just adding the menu items into a PHP array so I could output easily.
Add the following into your functions.php then call in your theme passing the menu of choice.
Then call in your theme
$menu_items = wp_get_menu_array('main-menu');