change annotation

Gyro.c

@@ -198,22 +198,20 @@ int main(int argc, char **argv)
 		Gyro_x = merge_bytes(read_data(fd, GYRO_XOUT_H),read_data(fd, GYRO_XOUT_H +1));
 		Gyro_y = merge_bytes(read_data(fd, GYRO_YOUT_H),read_data(fd, GYRO_YOUT_H +1));
 		Gyro_z = merge_bytes(read_data(fd, GYRO_ZOUT_H),read_data(fd, GYRO_ZOUT_H +1));
+
 		end = clock();
+
 		Gx = Gyro_x/DEG_PER_SEC;
 		Gy = Gyro_y/DEG_PER_SEC;
 		Gz = Gyro_z/DEG_PER_SEC;
-		// printf("Gx = %.3f       Gy = %.3f \n", Gx, Gy);
+
 		dt = (double)(end - start)/1000;
-		//angleGyX += ((Gx-baseGx) * dt);
-		//angleGyY += ((Gy-baseGy) * dt);
-		// printf("\n angleGyX = %.3f      angleGyY = %.3f          dt = %.3f\n", angleGyX, angleGyY, dt);
 
 
 		Ax = Acc_x/16384.0;
 		Ay = Acc_y/16384.0;
 		Az = Acc_z/16384.0;
 
-
 		angleAcY = atan(-Ax /sqrt(pow(Ay, 2) + pow(Az, 2)));
 		angleAcX = atan(Ay / sqrt(pow(Ax, 2) + pow(Az, 2)));
 		angleAcY *= RADIAN_TO_DEGREE;
@@ -227,7 +225,7 @@ int main(int argc, char **argv)
 			position[i] = 0;
 		}
 
-		if(fabs(angleAphX) < angleBlock * 1){  // x가 5.625 이하
+		if(fabs(angleAphX) < angleBlock * 1){  // x가 5.625 미만
 			if(angleAphX < 0){
 				position[2] += 0;
 				position[3] += 0;
@@ -235,7 +233,7 @@ int main(int argc, char **argv)
 				position[0] += 0;
 				position[1] += 0;
 			}
-		}else if(fabs(angleAphX) < angleBlock * 2){ //x가 11.25 이하
+		}else if(fabs(angleAphX) < angleBlock * 2){ //x가 11.25 미만
 			if(angleAphX < 0){
 				position[2] += 1;
 				position[3] += 1;
@@ -243,7 +241,7 @@ int main(int argc, char **argv)
 				position[0] += 1;
 				position[1] += 1;
 			}
-		}else if(fabs(angleAphX) < angleBlock * 3){ //x가 16.875 이하
+		}else if(fabs(angleAphX) < angleBlock * 3){ //x가 16.875 미만
 			if(angleAphX < 0){
 				position[2] += 2;
 				position[3] += 2;
@@ -251,7 +249,7 @@ int main(int argc, char **argv)
 				position[0] += 2;
 				position[1] += 2;
 			}
-		}else if(fabs(angleAphX) < angleBlock * 4){ //x가 22.5 이하
+		}else if(fabs(angleAphX) < angleBlock * 4){ //x가 22.5 미만
 			if(angleAphX < 0){
 				position[2] += 3;
 				position[3] += 3;
@@ -260,7 +258,7 @@ int main(int argc, char **argv)
 				position[1] += 3;
 			}
 			
-		}else if(fabs(angleAphX) < angleBlock * 5){ //x가 22.5 이하
+		}else if(fabs(angleAphX) < angleBlock * 5){ //x가 28.125 미만
 			if(angleAphX < 0){
 				position[2] += 4;
 				position[3] += 4;
@@ -268,7 +266,7 @@ int main(int argc, char **argv)
 				position[0] += 4;
 				position[1] += 4;
 			}
-		}else if(fabs(angleAphX) < angleBlock * 6){ //x가 22.5 이하
+		}else if(fabs(angleAphX) < angleBlock * 6){ //x가 33.75 미만
 			if(angleAphX < 0){
 				position[2] += 5;
 				position[3] += 5;
@@ -276,7 +274,7 @@ int main(int argc, char **argv)
 				position[0] += 5;
 				position[1] += 5;
 			}
-		}else if(fabs(angleAphX) < angleBlock * 7){ //x가 22.5 이하
+		}else if(fabs(angleAphX) < angleBlock * 7){ //x가 45 미만
 			if(angleAphX < 0){
 				position[2] += 6;
 				position[3] += 6;
@@ -284,7 +282,7 @@ int main(int argc, char **argv)
 				position[0] += 6;
 				position[1] += 6;
 			}
-		}else{										//x가 22.5 이상
+		}else{										//x가 45 이상
 			if(angleAphX < 0){
 				position[2] += 7;
 				position[3] += 7;
@@ -294,7 +292,7 @@ int main(int argc, char **argv)
 			}
 		}
 
-		if(fabs(angleAphY) < angleBlock * 1){	// y가 5.625 이하
+		if(fabs(angleAphY) < angleBlock * 1){	// y가 5.625 미만
 			if(angleAphY >= 0){
 				position[0] += 0;
 				position[2] += 0;
@@ -302,7 +300,7 @@ int main(int argc, char **argv)
 				position[1] += 0;
 				position[3] += 0;
 			}
-		}else if(fabs(angleAphY) < angleBlock * 2){     //y가 11.25 이하
+		}else if(fabs(angleAphY) < angleBlock * 2){     //y가 11.25 미만
 			if(angleAphY >= 0){
 				position[0] += 1;
 				position[2] += 1;