gyro.h help

[carlos_85]

sorry again,
what do you do to change V per tenth-deg to V per seg?
i see that 2000 is the result to divide 1/0,0005 but i don't understand it.

By other side,

int Get_Gyro_Rate(void)
{
// Return the calculated gyro rate to the caller.
return((int)((((long)gyro_rate * GYRO_SENSITIVITY * 5L) / ADC_RANGE)) * GYRO_CAL_FACTOR);
}


5L, what is this?
thank you

[Alan Anderson]

Originally Posted by carlos_85

i see that 2000 is the result to divide 1/0,0005 but i don't understand it.

I don't know what you don't understand. You correctly see that to convert v/dd/s into dd/s/v, you take the multiplicative inverse. (Here, dd stands for decidegrees, a fancy name for tenths of a degree.)

5L, what is this?

It's a C constant, with a value of 5 and a type of long integer. The L is used to keep the compiler from using a regular integer or even a char, which could result in an overflow of an intermediate result.