Diff: LOCALIZE.cpp

Revision:

26:5ae5ef623b72

Parent:

25:f3bf8351bbd4

--- a/LOCALIZE.cpp	Tue Apr 05 02:30:40 2016 +0000
+++ b/LOCALIZE.cpp	Wed Apr 06 03:54:29 2016 +0000
@@ -84,30 +84,30 @@
         _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;
         if(!_sw1 && !_sw2)
-            _rx=RX_OFF;
+            _rx=0;//RX_OFF;
         else if(!_sw3 && !_sw4)
-            _rx=FRAME_W-RX_OFF;
+            _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;
         if(!_sw1 && !_sw2)
-            _ry=FRAME_H-RY_OFF;
+            _ry=FRAME_H;//-RY_OFF;
         else if(!_sw3 && !_sw4)
-            _ry=RY_OFF;
+            _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;
         if(!_sw1 && !_sw2)
-            _rx=FRAME_W-RX_OFF;
+            _rx=FRAME_W;//-RX_OFF;
         else if(!_sw3 && !_sw4)
-            _rx=RX_OFF;
+            _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;
         if(!_sw1 && !_sw2)
-            _ry=RY_OFF;
+            _ry=0;//RY_OFF;
         else if(!_sw3 && !_sw4)
-            _ry=FRAME_H-RY_OFF;
+            _ry=FRAME_H;//-RY_OFF;
     } else {
         //error last value
         _rx=_xya.x;