Revision 4:5a6ef0d027c4, committed 2019-04-18

Comitter:

yfkwok

Date:

Thu Apr 18 04:52:31 2019 +0000

Parent:

3:eedcae2bd4aa

Commit message:

18/04/2019 - Added functions for getting direction and magnitude

Changed in this revision

--- a/FXOS8700CQ.cpp	Wed Apr 17 17:53:33 2019 +0000
+++ b/FXOS8700CQ.cpp	Thu Apr 18 04:52:31 2019 +0000
@@ -176,4 +176,41 @@
     float roll_angle = atan2(values.ay,values.az)*180.0/3.1416;
     
     return roll_angle;
+}
+
+Direction FXOS8700CQ::get_direction()
+{
+    float pitch_angle = get_pitch_angle();  // -180 to 180 degree
+    float roll_angle = get_roll_angle(); //-180 to 180 degree
+
+    Direction d;
+    // partition 360 into segments and check which segment the angle is in
+    if ((pitch_angle <= 10) && (roll_angle <= 10) && (pitch_angle >= -10) && (roll_angle >= -10)) {
+        d = CENTRE;   // check for -1.0 angle
+    } else if ((pitch_angle > 10) && (roll_angle < 10) && (roll_angle > -10)) {  // then keep going in 45 degree increments
+        d = N;
+    } else if ((pitch_angle > 10) && (roll_angle < -10)) {
+        d = NE;
+    } else if ((pitch_angle < 10) && (roll_angle < -10) && (pitch_angle > -10)) {
+        d = E;
+    } else if ((pitch_angle < -10) && (roll_angle < -10)) {
+        d = SE;
+    } else if ((pitch_angle < -10) && (roll_angle < 10) && (roll_angle > -10)) {
+        d = S;
+    } else if ((pitch_angle < -10) && (roll_angle > 10)) {
+        d = SW;
+    } else if ((pitch_angle < 10) && (pitch_angle > -10) && (roll_angle > 10)) {
+        d = W;
+    } else if ((pitch_angle > 10) && (roll_angle > 10)) {
+        d = NW;
+    }
+
+    return d;
+}
+
+float FXOS8700CQ::get_mag()
+{
+    Data values = get_values();
+    float mag = sqrt(values.ay*values.ay + values.az*values.az + values.ax*values.ax);
+    return mag;
 }
\ No newline at end of file

--- a/FXOS8700CQ.h	Wed Apr 17 17:53:33 2019 +0000
+++ b/FXOS8700CQ.h	Thu Apr 18 04:52:31 2019 +0000
@@ -40,6 +40,7 @@
 #define FXOS8700CQ_H
 
 #include "mbed.h"
+#include "Gamepad.h"
 
 // mbed API uses 8-bit addresses so need to left-shift 7-bit addresses by 1
 #define FXOS8700CQ_ADDR   (0x1D << 1)    // for K64F board
@@ -75,6 +76,8 @@
     Data get_values();
     float get_pitch_angle();
     float get_roll_angle();
+    Direction get_direction();
+    float get_mag();
 
 private:
     I2C* i2c;