自己位置推定機能を追加
Dependencies: SBDBT arrc_mbed BNO055
Diff: DUALSHOCKco.cpp
- Revision:
- 0:a1238c4cd105
diff -r 000000000000 -r a1238c4cd105 DUALSHOCKco.cpp --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/DUALSHOCKco.cpp Wed Jan 19 12:43:26 2022 +0000 @@ -0,0 +1,29 @@ +#include "DUALSHOCKco.hpp" + +void DUALSHOCKco::pass_val(double RSX,double RSY,double R2AN,double L2AN){ + rsx = RSX; + rsy = RSY; + r2an = R2AN; + l2an = L2AN; +} + +bool DUALSHOCKco::cal_input(){ + if(r2an == 0&&l2an == 0){ + Xval = (rsx - RS_normal) * 400 / RS_normal; + Yval = ((RS_MAX - rsy) - RS_normal + 1) * 400 / RS_normal; + return true; + } + else{ + if(r2an != 0){ + Xval = r2an * 400 / RL_MAX; + } + else{ + Xval = -l2an * 400 / RL_MAX; + } + return false; + } +} + +double DUALSHOCKco::obt_X(){ return Xval; } + +double DUALSHOCKco::obt_Y(){ return Yval; } \ No newline at end of file