kazuma yamanaka / 2022_Ateam_MOTORprogram

自己位置推定機能を追加

Dependencies:   SBDBT arrc_mbed BNO055

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Show/hide line numbers DUALSHOCKco.cpp Source File

DUALSHOCKco.cpp

00001 #include "DUALSHOCKco.hpp"
00002 
00003 void DUALSHOCKco::pass_val(double RSX,double RSY,double R2AN,double L2AN){
00004     rsx = RSX;
00005     rsy = RSY;
00006     r2an = R2AN;
00007     l2an = L2AN;
00008 }
00009 
00010 bool DUALSHOCKco::cal_input(){
00011     if(r2an == 0&&l2an == 0){
00012             Xval = (rsx - RS_normal) * 400 / RS_normal;
00013             Yval = ((RS_MAX - rsy) - RS_normal + 1) * 400 / RS_normal;
00014             return true;
00015     }
00016     else{
00017         if(r2an != 0){
00018             Xval = r2an * 400 / RL_MAX;
00019         }
00020         else{
00021             Xval = -l2an * 400 / RL_MAX;
00022         }
00023         return false;
00024     }
00025 }
00026 
00027 double DUALSHOCKco::obt_X(){ return Xval; }
00028 
00029 double DUALSHOCKco::obt_Y(){ return Yval; }
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