Chris LU / Mbed 2 deprecated Nucleo_ZTC_20160607_oldest

code of robot bike

Dependencies:   SDFileSystem mbed

Fork of Robot_Bicycle by Chris LU

Diff: SPI_9dSensor.cpp

Revision:
11:45a641da473d
Parent:
10:3b952ea7fad4
--- a/SPI_9dSensor.cpp	Mon Jul 18 12:12:50 2016 +0000
+++ b/SPI_9dSensor.cpp	Wed Jan 18 15:48:47 2017 +0000
@@ -256,9 +256,9 @@
 
 void get_9axis_scale(void)
 {
-    Gyro_scale[0] = ((float)Gyro_axis_data[0]-Gyro_axis_zero[0])*Gyro_gainx;
-    Gyro_scale[1] = ((float)Gyro_axis_data[1]-Gyro_axis_zero[1])*Gyro_gainy;
-    Gyro_scale[2] = ((float)Gyro_axis_data[2]-Gyro_axis_zero[2])*Gyro_gainz;
+    Gyro_scale[0] = ((float)(Gyro_axis_data[0]-Gyro_axis_zero[0]))*Gyro_gainx;
+    Gyro_scale[1] = ((float)(Gyro_axis_data[1]-Gyro_axis_zero[1]))*Gyro_gainy;
+    Gyro_scale[2] = ((float)(Gyro_axis_data[2]-Gyro_axis_zero[2]))*Gyro_gainz;
     Acce_scale[0] = ((float)(Acce_axis_data[0]-Acce_axis_zero[0]))*Acce_gainx;
     Acce_scale[1] = ((float)(Acce_axis_data[1]-Acce_axis_zero[1]))*Acce_gainy;
     Acce_scale[2] = ((float)(Acce_axis_data[2]-Acce_axis_zero[2]))*Acce_gainz;