Daniel Knox / Mbed 2 deprecated frdm_serial_peopleAndComputing

Interface layer for the mbed boards ready for the JAVA library

Dependencies:   C12832 LM75B MMA7660 mbed FXOS8700Q

Fork of frdm_serial by Michael Berry

Diff: main.cpp

Revision:
7:238c6fd5c209
Parent:
6:adf2837c1e7f
Child:
8:d70e3e3690fd
diff -r adf2837c1e7f -r 238c6fd5c209 main.cpp
--- 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);
 }