# rotateZ() not working as expected

**URL:** <https://discourse.processing.org/t/rotatez-not-working-as-expected/843>\
**Category:** Development\
**Created:** [June 10, 2018, 4:09pm UTC](https://discourse.processing.org/t/rotatez-not-working-as-expected/843 "2018-06-10T16:09:18Z")\
**Posts on this page:** 1\
**Showing post:** 4

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**Author:** ![glv](https://yyz2.discourse-cdn.com/flex036/user_avatar/discourse.processing.org/glv/32/18785_2.png) [@glv](https://discourse.processing.org/u/glv)\
**Post date:** [June 10, 2018, 8:14pm UTC](https://discourse.processing.org/t/rotatez-not-working-as-expected/843/4 "2018-06-10T20:14:06Z")

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I suspect that it may be your use of the “yaw” angle that is the issue; this was the case for me with my 3-axis accelerometer.

Here is a discussion about the “yaw” angle:  
[https://robotics.stackexchange.com/questions/4677/how-to-estimate-yaw-angle-from-tri-axis-accelerometer-and-gyroscope](https://robotics.stackexchange.com/questions/4677/how-to-estimate-yaw-angle-from-tri-axis-accelerometer-and-gyroscope)

I am starting to program a quaternion class and this device is now of interest to me.  
According to Adafruit it will “spit out data you can use in quaternions, Euler angles or vectors.”  
[https://learn.adafruit.com/adafruit-bno055-absolute-orientation-sensor/overview](https://learn.adafruit.com/adafruit-bno055-absolute-orientation-sensor/overview)

Have fun!

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