up

labplus-cn · Apr 22, 2022 · 9f4e728 · 9f4e728
1 parent ccc8251
commit 9f4e728
Showing 1 changed file with 13 additions and 12 deletions.
diff --git a/port/boards/mpython/modules/mpython.py b/port/boards/mpython/modules/mpython.py
@@ -676,7 +676,7 @@ def __init__(self):
             self._writeReg(0x1B, 0b10100001)
             self._writeReg(0x1C, 0b00000011)
             self._writeReg(0x1D, 0b10010000)
-            sleep_ms(100)
+            time.sleep_ms(100)
 
     def _readReg(self, reg, nbytes=1):
         return i2c.readfrom_mem(self.addr, reg, nbytes)
@@ -819,9 +819,9 @@ def get_x(self):
             return self.raw_x * 0.25
         if (self.chip == 2):
             self._get_raw()
-            return -0.0625 * (self.raw_x - 524288)
+            # return -0.0625 * (self.raw_x - 524288)
             # return -0.0625 * (self.raw_x - self.cali_offset_x - 524288)
-            # return (self.raw_x - 524288)/16384
+            return -(self.raw_x - 524288)/16384
 
     def get_y(self):
         if (self.chip == 1):
@@ -830,18 +830,18 @@ def get_y(self):
         if (self.chip == 2):
             self._get_raw()
             # return -0.0625 * (self.raw_y - self.cali_offset_y - 524288)
-            return -0.0625 * (self.raw_y - 524288)
-            # return (self.raw_y - 524288)/16384
+            # return -0.0625 * (self.raw_y - 524288)
+            return -(self.raw_y - 524288)/16384
 
     def get_z(self):
         if (self.chip == 1):
             self._get_raw()
             return self.raw_z * 0.25 
         if (self.chip == 2):
             self._get_raw()
-            return 0.0625 * (self.raw_z - 524288)
+            # return 0.0625 * (self.raw_z - 524288)
             # return 0.0625 * (self.raw_z - self.cali_offset_z - 524288)
-            # return (self.raw_z - 524288)/16384
+            return (self.raw_z - 524288)/16384
 
     def get_field_strength(self):
         if(self.chip==1):
@@ -904,13 +904,14 @@ def get_heading(self):
             temp_x = self.raw_x - self.cali_offset_x
             temp_y = self.raw_y - self.cali_offset_y
             # temp_z = self.raw_z - self.cali_offset_z
-            heading = math.atan2(temp_y, -temp_x) * (180 / 3.14159265) + 180
+            heading = math.atan2(temp_y, -temp_x) * (180 / 3.14159265) + 180 + 3
             return heading
         else:
-            self._get_raw()
-            # temp_x = self.raw_x - self.cali_offset_x
-            # temp_y = self.raw_y - self.cali_offset_y
-            # heading = math.atan2(temp_y, -temp_x) * (180 / 3.14159265) + 180 + 3
+            if(self.cali_offset_x):
+                self._get_raw()
+                temp_x = self.raw_x - self.cali_offset_x
+                temp_y = self.raw_y - self.cali_offset_y
+                heading = math.atan2(temp_y, -temp_x) * (180 / 3.14159265) + 180 + 3
             heading = math.atan2(self.get_y(), -self.get_x()) * (180 / 3.14159265) + 180 + 3
             return heading