シンイチ 田中 / AMT21_right_arm

9/10

Diff: AMT21.cpp

Revision:
1:3838b5e3966c
Parent:
0:f3d3f744dbd9
Child:
2:e0164b9fe93a
--- a/AMT21.cpp	Thu Dec 10 06:41:13 2020 +0000
+++ b/AMT21.cpp	Mon Apr 12 06:08:22 2021 +0000
@@ -76,7 +76,7 @@
 
     return count_;
 }
-double Amt21::getAngle()
+double Amt21::getDeg()
 {
     getCount();
     double angle_;
@@ -84,6 +84,14 @@
     angle_/=GEER_STEER;
     return angle_;
 }
+double Amt21::getRad()
+{
+    getCount();
+    double angle_;
+    angle_=(count_-COUNT_OFFSET)*2.0f*M_PI/RESOLUTION_AMT21;
+    angle_/=GEER_STEER;
+    return angle_;
+}
 void Amt21::reset()
 {
     instruction=RESET;