2014 sift / Mbed 2 deprecated TVDctrller2017_brdRev1_PandA

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Dependencies:   mbed

Fork of TVDctrller2017_brdRev1_ver6 by 2014 sift

Diff: Steering.cpp

Revision:
28:47e9531a3a9d
Parent:
25:c21d35c7f0de
Child:
39:c05074379713
diff -r 37a8b4f6d28d -r 47e9531a3a9d Steering.cpp
--- a/Steering.cpp	Sat Jul 01 08:45:37 2017 +0000
+++ b/Steering.cpp	Mon Jul 03 12:03:34 2017 +0000
@@ -85,19 +85,9 @@
     }
 }
 
-float getSteerAngle(void)
+int getSteerAngle(void)
 {
-    //gSteerAngle:0~255
-    //rad:0~2PI
-    //return:-PI~PI
-    float rad = 2.0f*M_PI*(gSteerAngle/255.0f);
-    
-    if(rad > 2*M_PI)
-        rad = 2*M_PI;
-    else if(rad < 0)
-        rad = 0;
-
-    return rad - M_PI;  //steer left->[+]
+    return gSteerAngle - 127;  //steer left->[+]
 }
 
 int getSteerDirection(void)