Kiko Ishimoto / MyLib2

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Dependents:   robocon2017mbed_control_R

Fork of MyLib by gaku takasawa

Files at this revision

API Documentation at this revision

Revision 3:e7a900958f54, committed 2017-05-11

Comitter:
gaku_sigu
Date:
Thu May 11 07:31:39 2017 +0000
Parent:
2:7b7821addb45
Child:
4:ae9dc8d5c37e
Commit message:
Add radian

Changed in this revision

Nunchuck/Nunchuck.cpp Show annotated file Show diff for this revision Revisions of this file
Nunchuck/Nunchuck.h Show annotated file Show diff for this revision Revisions of this file 
--- a/Nunchuck/Nunchuck.cpp	Thu May 11 07:10:17 2017 +0000
+++ b/Nunchuck/Nunchuck.cpp	Thu May 11 07:31:39 2017 +0000
@@ -13,7 +13,7 @@
 bool Nunchuck::init()
 {
     unsigned char cmd[] = {0x40, 0x00};
-    if (I2C::write(ADDR, (const char*)cmd, sizeof(cmd)) == 0)
+    if (I2C::write(NUNCHUCK_ADDR, (const char*)cmd, sizeof(cmd)) == 0)
         return 1;
     else
         return 0;
@@ -49,8 +49,8 @@
     getdata();
     int8_t temp;
     temp = data[0] - 128;
-#if ANALOGDATA
-    if(-1*(DEADZONE) < temp && temp < DEADZONE)
+#if NUNCHUCK_ANALOGDATA
+    if(-1*(NUNCHUCK_DEADZONE) < temp && temp < NUNCHUCK_DEADZONE)
         temp = 0;
 #else
     if(-50 < temp && temp < 50)
@@ -69,8 +69,8 @@
     getdata();
     int8_t temp;
     temp = data[1] - 128;
-#if ANALOGDATA
-    if(-1*(DEADZONE) < temp && temp < DEADZONE)
+#if NUNCHUCK_ANALOGDATA
+    if(-1*(NUNCHUCK_DEADZONE) < temp && temp < NUNCHUCK_DEADZONE)
         temp = 0;
 #else
     if(-50 < temp && temp < 50)
@@ -84,6 +84,14 @@
 }
 
 
+double Nunchuck::analograd()
+{
+    double x = analogx();
+    double y = analogy();
+        
+    return atan2(y,x);
+}
+
 int Nunchuck::accx()
 {
     getdata();

--- a/Nunchuck/Nunchuck.h	Thu May 11 07:10:17 2017 +0000
+++ b/Nunchuck/Nunchuck.h	Thu May 11 07:31:39 2017 +0000
@@ -4,9 +4,9 @@
 
 #include "mbed.h"
 
-#define ANALOGDATA 1  //1 : analog   0 : degital
-#define DEADZONE 6    //analog stick's deadzone
-#define ADDR    0xA4  // 0x52 << 1
+#define NUNCHUCK_ANALOGDATA 1  //1 : analog   0 : degital
+#define NUNCHUCK_DEADZONE 6    //analog stick's deadzone
+#define NUNCHUCK_ADDR    0xA4  // 0x52 << 1
 
 class Nunchuck : I2C
 {
@@ -15,6 +15,7 @@
         Nunchuck(PinName SDA, PinName SCL);
         int8_t analogx();
         int8_t analogy();
+        double analograd();
         int accx();
         int accy();
         int accz ();