Mekatronics Team G
Dependencies: BNO055_fusion PowerControl mbed BMP280
Fork of DEMO3 by
Diff: LOCALIZE.cpp
- Revision:
- 29:e8ef4a2e628d
- Parent:
- 28:65daccc10f31
--- a/LOCALIZE.cpp Wed Apr 13 07:19:18 2016 +0000 +++ b/LOCALIZE.cpp Wed Apr 13 07:48:49 2016 +0000 @@ -82,29 +82,29 @@ get_angle(xya); ledSw(); if(_xya.a<R_ERROR || _xya.a>360-R_ERROR) { - _rx=_rx_p<_rx_n? _rx_p : FRAME_W-RX_OFF-_rx_n; - _ry=_ry_p<_ry_n? _ry_p : FRAME_H-RY_OFF-_ry_n; + _rx=_rx_p<_rx_n? _rx_p+RX_OFF : FRAME_W-RX_OFF-_rx_n; + _ry=_ry_p<_ry_n? _ry_p+RY_OFF : FRAME_H-RY_OFF-_ry_n; if(!_sw1 && !_sw2) _rx=0;//RX_OFF; else if(!_sw3 && !_sw4) _rx=FRAME_W;//-RX_OFF; } else if(abs(_xya.a-270)<R_ERROR) { - _rx=_ry_p<_ry_n? _ry_p : FRAME_W-RY_OFF-_ry_n; - _ry=_rx_p<_rx_n? FRAME_H-RX_OFF-_rx_p : _rx_n; + _rx=_ry_p<_ry_n? _ry_p+RY_OFF : FRAME_W-RY_OFF-_ry_n; + _ry=_rx_p<_rx_n? FRAME_H-RX_OFF-_rx_p : _rx_n+RX_OFF; if(!_sw1 && !_sw2) _ry=FRAME_H;//-RY_OFF; else if(!_sw3 && !_sw4) _ry=0;//RY_OFF; } else if(abs(_xya.a-180)<R_ERROR) { - _rx=_rx_p<_rx_n? FRAME_W-RX_OFF-_rx_p : _rx_n; - _ry=_ry_p<_ry_n? FRAME_H-RY_OFF-_ry_p : _ry_n; + _rx=_rx_p<_rx_n? FRAME_W-RX_OFF-_rx_p : _rx_n+RX_OFF; + _ry=_ry_p<_ry_n? FRAME_H-RY_OFF-_ry_p : _ry_n+RY_OFF; if(!_sw1 && !_sw2) _rx=FRAME_W;//-RX_OFF; else if(!_sw3 && !_sw4) _rx=0;//RX_OFF; } else if(abs(_xya.a-90)<R_ERROR) { - _rx=_ry_p<_ry_n? FRAME_W-RY_OFF-_ry_p : _ry_n; - _ry=_rx_p<_rx_n? _rx_p : FRAME_H-RX_OFF-_rx_n; + _rx=_ry_p<_ry_n? FRAME_W-RY_OFF-_ry_p : _ry_n+RY_OFF; + _ry=_rx_p<_rx_n? _rx_p+RX_OFF : FRAME_H-RX_OFF-_rx_n; if(!_sw1 && !_sw2) _ry=0;//RY_OFF; else if(!_sw3 && !_sw4)