Kobayashi Takumi / BNO055_mbed

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Diff: bno055_use.h

Revision:
1:943ebeac19f7
Parent:
0:4092428e9e15
Child:
2:a7fa5c448703
diff -r 4092428e9e15 -r 943ebeac19f7 bno055_use.h
--- a/bno055_use.h	Wed Feb 13 14:56:26 2019 +0000
+++ b/bno055_use.h	Fri Mar 15 09:16:23 2019 +0000
@@ -17,6 +17,7 @@
     .getYaw180()    //Yaw(-180~0~180)           値取得   (返り値 float)
     .getYaw360()    //Yaw(0~360)(時計回り)       値取得   (返り値 float)
     .getYaw360Rev() //Yaw(0~360)(反時計回り)     値取得   (返り値 float)
+    .getYawRad360() //yaw(-360~0~360)          値取得    (返り値 float)
     
 **************************************************/
 //p28 p27 or p9 p10
@@ -112,6 +113,37 @@
             return data_yaw360Rev;
         }
         
+        /***************************************自作BNO055関数**********************************/
+        /************************
+            ロボットの回転方向から+360 ~ 0 ~ -360の値を推定して返す
+        *************************/
+        float getYawRad360() {
+            float calculate_yawRad;
+            /*
+            if(data_yawRad > 360.0f) {
+                if(count == 1) {
+                    calculate_yawRad = data_yawRad - 360.0f * 1.0f;
+                }
+                
+            } else if(data_yawRad < -360.0f) {
+                if(count == -1) {
+                    calculate_yawRad = data_yawRad - 360.0f * -1.0f;
+                /
+            } else {
+                calculate_yawRad = data_yawRad;
+            }*/
+            if(data_yawRad >= 360.0f) {
+                calculate_yawRad = 360.0f;   
+            } else if(data_yawRad <= -360.0f) {
+                calculate_yawRad = -360.0f;             
+            } else {
+                calculate_yawRad = data_yawRad;
+            }          
+            
+            return -calculate_yawRad;
+        }
+            
+                        
         float getYawRad(){
             return data_yawRad;
         }