From 4fc35d5c1eda9d59551628eabeb18a61fd850ac7 Mon Sep 17 00:00:00 2001
From: Samuel <samuel.kay@poivron-robotique.fr>
Date: Wed, 29 Mar 2023 23:11:04 +0200
Subject: [PATCH] Fonction Set_position (Angle) fonction maintenant en mode
 Gyroscope

---
 Localisation.c | 1 +
 gyro.c         | 5 +++++
 gyro.h         | 1 +
 3 files changed, 7 insertions(+)

diff --git a/Localisation.c b/Localisation.c
index 446fe1c..a1bddbc 100644
--- a/Localisation.c
+++ b/Localisation.c
@@ -17,6 +17,7 @@ void Localisation_set(double x_mm, double y_mm, double angle_radian){
     position.x_mm = x_mm;
     position.y_mm = y_mm;
     position.angle_radian = angle_radian;
+    gyro_set_angle_radian(angle_radian);
 }
 
 void Localisation_set_x(double x_mm){
diff --git a/gyro.c b/gyro.c
index f5bad2d..78c6b75 100644
--- a/gyro.c
+++ b/gyro.c
@@ -6,7 +6,9 @@
 #include "spi_nb.h"
 #include "Temps.h"
 #include "gyro.h"
+#include "math.h"
 
+#define RADIAN_VERS_DEGRES (180. / M_PI)
 
 
 #ifdef GYRO_L3GD20H
@@ -35,6 +37,9 @@ uint32_t rot_x_zero, rot_y_zero, rot_z_zero;
 
 struct t_angle_gyro_double angle_gyro, vitesse_gyro;
 
+void gyro_set_angle_radian(double angle_radian){
+    angle_gyro.rot_z = angle_radian * RADIAN_VERS_DEGRES;
+}
 
 struct t_angle_gyro_double gyro_get_angle_degres(void){
     return angle_gyro;
diff --git a/gyro.h b/gyro.h
index cad0519..34fa7ff 100644
--- a/gyro.h
+++ b/gyro.h
@@ -3,6 +3,7 @@
 void Gyro_Init(void);
 void Gyro_Read(uint16_t);
 void gyro_affiche(struct t_angle_gyro_double angle_gyro, char * titre);
+void gyro_set_angle_radian(double angle_radian);
 struct t_angle_gyro_double gyro_get_angle_degres(void);
 struct t_angle_gyro_double gyro_get_vitesse(void);
 int16_t gyro_get_temp(void);
\ No newline at end of file