Interface layer for the mbed boards ready for the JAVA library
Dependencies: C12832 LM75B MMA7660 mbed FXOS8700Q
Fork of frdm_serial by
Diff: main.cpp
- Revision:
- 7:238c6fd5c209
- Parent:
- 6:adf2837c1e7f
- Child:
- 8:d70e3e3690fd
--- a/main.cpp Mon Dec 21 11:36:29 2015 +0000 +++ b/main.cpp Tue Feb 16 23:07:10 2016 +0000 @@ -5,7 +5,6 @@ #include "FXOS8700Q.h" #include "comms.h" #include "main.h" -# define M_PI 3.14159265358979323846 /* pi */ //OUTPUTS @@ -162,14 +161,8 @@ void get_heading() { MotionSensorDataUnits mag; bMag.getAxis(mag); - float x = mag.x; - float y = mag.y; - float heading; - if( y == 0 ) { - heading = (x < 0 ? 0.0f : 180.0f); - } else { - heading = (y > 0 ? 270.0f : 90.0f) - (atan((x/y))*(180.0f/(float)M_PI)); - } + float heading = atan2(-(mag.x-20.0f),mag.y-5.0f)*180.0f/M_PI; + if(heading<0) heading+=360.0f; pc.sendFloat(heading); }