Diff: acc.cpp

Revision:

6:459d1eb2cc23

Parent:

5:98ad3701ec24

--- a/acc.cpp	Thu Jan 14 22:03:54 2016 +0000
+++ b/acc.cpp	Thu Jan 14 22:52:20 2016 +0000
@@ -9,8 +9,7 @@
 Serial pc(USBTX, USBRX);
 char buffer[6];                 //raw filler data
 int16_t data[3];                //16bit twos-compliment integer data
-float x,y,z;                    //set up floats for values to display
-
+                 
 void acc_init(void){
     cs=1;                       //initially off
     acc.format(8,3);            //8bit, mode 3
@@ -26,6 +25,7 @@
 }
  
 float acc_sense(char axis){
+    float x,y;  
     cs=0;
     acc.write(0x80|0x40|0x32);      //RW bit high, MB bit high, address to ask for a reading
     for (int i=0;i<=5;i++){buffer[i]=acc.write(0x00);}           //read 6bytes
@@ -34,8 +34,10 @@
     data[1]=buffer[3]<<8|buffer[2];         //y         combine MSB and LSB
     data[2]=buffer[5]<<8|buffer[4];         //z
     
-    x=atan(data[0],data[2]);
-    y=atan(data[1],data[2]);
+    x=(atan2((double)data[0],(double)data[2])*180/3.1416);      //convert the signal into an angle, to be passed out as x,y
+    y=(atan2((double)data[1],(double)data[2])*180/3.1416);
+    
+//    pc.printf("Angle x = %1.2f \t Angle y = %1.2f \n\r", x,y);
     
     if(axis==1) return x;       //if asked for x, give x
     if(axis==2) return y;       //if asked for y, give y