totherelativeangle.c

机器人足球教程footballteaching

#ifndef _TOTHERELATIVEANGLE_
#define _TOTHERELATIVEANGLE_
#include "HardwareInfo.c"
#include <GetCompassB.h>
#include "TurnAngle.c"

void ToTheRelativeAngle(unsigned int angle)
{
    unsigned int dg = 0;   //当前指南针的返回值
    unsigned int degree = 0;   //储存角度值
    dg = GetCompassB(_COMPASS_1_);
    degree=dg+angle;
    if ( degree>360 )
    {
        degree=degree-360;
    }
    TurnAngle(degree);
}
#endif