added
Dependencies: BNO055_fusion PowerControl mbed
Fork of TEAM_G_FLOW_RIDA by
Diff: LOCALIZE.cpp
- Revision:
- 6:0602a9e8118b
- Parent:
- 5:c89308dc1827
- Child:
- 8:b36be08c44f8
--- a/LOCALIZE.cpp Sun Mar 06 18:31:59 2016 +0000 +++ b/LOCALIZE.cpp Wed Mar 16 22:05:23 2016 +0000 @@ -8,7 +8,8 @@ if(_imu.chip_ready()==0) return ERROR_IMU; _imu.set_mounting_position(MT_P0); - _imu.change_fusion_mode(MODE_IMU); + //_imu.change_fusion_mode(MODE_IMU); + _imu.change_fusion_mode(MODE_NDOF); char data[]= {0,0,0}; if(_x_imu_i2c.read(R_P_ADDR<<1, data, 3)!=0) return ERROR_RX_P; @@ -53,7 +54,8 @@ break; } _xya.a=_angle; - xya->a=_xya.a; + //xya->a=_xya.a; + xya->a=_euler.h; } void LOCALIZE::get_xy(LOCALIZE_xya *xya) @@ -100,4 +102,4 @@ wait(R_WAIT); _ry_n=data[1]; //printf("%d %d %d %d\n",_rx_p,_rx_n,_ry_p,_ry_n); -} \ No newline at end of file +}