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テスト
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Revision 4:1d0dbfceeaed, committed 2018-08-14
- Comitter:
- ponpoko1939
- Date:
- Tue Aug 14 03:52:29 2018 +0000
- Parent:
- 3:7644f7b86ae0
- Commit message:
- v4
Changed in this revision
main.cpp | Show annotated file Show diff for this revision Revisions of this file |
diff -r 7644f7b86ae0 -r 1d0dbfceeaed main.cpp --- a/main.cpp Sun Aug 12 08:44:07 2018 +0000 +++ b/main.cpp Tue Aug 14 03:52:29 2018 +0000 @@ -60,24 +60,24 @@ pitch = atan2(-accX, sin(accY) + cos(accZ)); i2cWrite(MPU9250_ADDRESS, MAG_OPN, 0x02); //磁気センサの起動 i2cWrite(AK8963_ADDRESS, MAG_CONFIG, MAG_100HZ);//磁気センサの測定レンジの設定 - for(int i = 0;i < 150;i++){ + for(int i = 0;i < 50;i++){ Mag_Read(&mx, &my, &mz); maveX += mx; maveY += my; maveZ += mz; wait_ms(10); } - maveX /= 150; - maveY /= 150; - maveZ /= 150; - magX = (maveX - 168.75) / 32768.0f * 4800.0f;//[uT]に変換 - magY = (maveY - 18.75) / 32768.0f * 4800.0f;//[uT]に変換 + maveX /= 50; + maveY /= 50; + maveZ /= 50; + magX = (maveX + 11.44) / 32768.0f * 4800.0f;//[uT]に変換 + magY = (maveY + 12.1) / 32768.0f * 4800.0f;//[uT]に変換 magZ = mz / 32768.0f * 4800.0f;//[uT]に変換 pc.printf("%f,%f\n\r", magX, magY); //ID = IDcheck(); //pc.printf("%f\n\r", ID); rad = atan2(magZ * sin(roll) - magY * cos(roll), magX * cos(pitch) + magY * sin(pitch) * sin(roll) + magZ * sin(pitch) * cos(roll)); - degree = -((int)(rad * 180.0 / 3.141592 + 270.0 - 7.5) % 360 - 360.0); + degree = -((int)(rad * 180.0 / 3.141592 + 270.0 - 8.34) % 360 - 360.0); /* if(degree < 0){ degree += 360; @@ -104,9 +104,9 @@ i2cRead(AK8963_ADDRESS, 0x03, 7, magneticdata); } else pc.printf("ERROR!!\n"); - *mx = (magneticdata[0] << 8) | magneticdata[1]; - *my = (magneticdata[2] << 8) | magneticdata[3]; - *mz = (magneticdata[4] << 8) | magneticdata[5]; + *mx = ((int16_t)magneticdata[3] << 8) | (int16_t)magneticdata[2]; + *my = ((int16_t)magneticdata[1] << 8) | (int16_t)magneticdata[0]; + *mz = -((int16_t)magneticdata[5] << 8) | (int16_t)magneticdata[4]; } //mpu9250からデータを取得(bytesに受け取るデータのバイト数、dataに実際のデータを挿入していく)