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Updated getAngle() function

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This commit is contained in:
Kristian Lauszus 2012-06-01 17:27:21 +02:00
parent b07aac63e1
commit 053786b125
2 changed files with 5 additions and 18 deletions
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21
PS3BT.cpp
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@ -465,7 +465,7 @@ uint8_t PS3BT::getAnalogHat(AnalogHat a)
return 0; return 0;
return (uint8_t)(l2capinbuf[(uint16_t)a]); return (uint8_t)(l2capinbuf[(uint16_t)a]);
} }
int32_t PS3BT::getSensor(Sensor a) int16_t PS3BT::getSensor(Sensor a)
{ {
if (l2capinbuf == NULL) if (l2capinbuf == NULL)
return 0; return 0;
@ -505,22 +505,9 @@ double PS3BT::getAngle(Angle a) {
} else if(PS3MoveConnected) { } else if(PS3MoveConnected) {
// It's a Kionix KXSC4 inside the Motion controller // It's a Kionix KXSC4 inside the Motion controller
const uint16_t zeroG = 0x8000; const uint16_t zeroG = 0x8000;
accXval = getSensor(aXmove); accXval = -(int16_t)(getSensor(aXmove)-zeroG);
accYval = getSensor(aYmove); accYval = (int16_t)(getSensor(aYmove)-zeroG);
accZval = getSensor(aZmove); accZval = (int16_t)(getSensor(aZmove)-zeroG);
if(accXval < 0)
accXval += zeroG;
else
accXval -= zeroG;
if(accYval < 0)
accYval += zeroG;
else
accYval -= zeroG;
if(accZval < 0)
accZval += zeroG;
else
accZval -= zeroG;
} }
// Convert to 360 degrees resolution // Convert to 360 degrees resolution

2
PS3BT.h
View file

@ -349,7 +349,7 @@ public:
bool getButton(Button b); bool getButton(Button b);
uint8_t getAnalogButton(AnalogButton a); uint8_t getAnalogButton(AnalogButton a);
uint8_t getAnalogHat(AnalogHat a); uint8_t getAnalogHat(AnalogHat a);
int32_t getSensor(Sensor a); int16_t getSensor(Sensor a);
double getAngle(Angle a); double getAngle(Angle a);
bool getStatus(Status c); bool getStatus(Status c);
String getStatusString(); String getStatusString();