Mami Yokokawa / setting

加速度・ジャイロセンサのセッティング

Dependents:   Aigamozu_Robot_March

Files at this revision

API Documentation at this revision

Revision 3:00c23c8ff4d8, committed 2016-02-16

Comitter:
s1200058
Date:
Tue Feb 16 09:38:53 2016 +0000
Parent:
2:b03a80d9eade
Commit message:
for calibration compass;

Changed in this revision

setting.cpp Show annotated file Show diff for this revision Revisions of this file 
diff -r b03a80d9eade -r 00c23c8ff4d8 setting.cpp
--- a/setting.cpp	Wed Jan 27 12:15:05 2016 +0000
+++ b/setting.cpp	Tue Feb 16 09:38:53 2016 +0000
@@ -31,14 +31,8 @@
 
 void setting::setAngle(double angle){
     
-    if(changeFlag != 0){
-        pastGpsAngle = gpsAngle;
+
         gpsAngle = angle;
-        difAngle = gpsAngle - pastGpsAngle;
-    }
-    else{
-        gpsAngle = angle;
-    }
     
 }
 
@@ -76,15 +70,15 @@
 
 */
     
-   if(flag <= 20){
+/*   if(flag <= 20){
         caribCmp.x += x;
         caribCmp.y += y;
         caribCmp.z += z;
-        
+ */       
         agzCmp.x = x;
         agzCmp.y = y;
         agzCmp.z = z;
-    }
+/*    }
     
     else{
         
@@ -99,7 +93,7 @@
         caribCmp.y /= 20;
         caribCmp.z /= 20;
    } 
-    
+ */   
     
 }
 
@@ -174,7 +168,7 @@
         }
     }
 */
-    if(flag <= 20){
+/*    if(flag <= 20){
         caribGyr.x += x;
         caribGyr.y += y;
         caribGyr.z += z;
@@ -201,5 +195,9 @@
         caribGyr.y /= 20;
         caribGyr.z /= 20;
    } 
-  
+*/  
+        agzGyr.x = x;
+        agzGyr.y = y;
+        agzGyr.z = z;
+        
 }