Merge branch 'merge-1.0.5' into ide-1.5.x-discovery

1 files changed, 34 insertions, 0 deletions

diff --git a/libraries/Robot_Control/Compass.cpp b/libraries/Robot_Control/Compass.cpp
new file mode 100644
index 0000000..1b1ef31
--- /dev/null
+++ b/libraries/Robot_Control/Compass.cpp
@@ -0,0 +1,34 @@
+#include "Compass.h"
+#include <Wire.h>
+
+void Compass::begin(){
+	Wire.begin();
+}
+float Compass::getReading(){
+	_beginTransmission();
+	_endTransmission();
+	
+  //time delays required by HMC6352 upon receipt of the command
+  //Get Data. Compensate and Calculate New Heading : 6ms
+  delay(6);
+
+  Wire.requestFrom(HMC6352SlaveAddress, 2); //get the two data bytes, MSB and LSB
+
+  //"The heading output data will be the value in tenths of degrees
+  //from zero to 3599 and provided in binary format over the two bytes."
+  byte MSB = Wire.read();
+  byte LSB = Wire.read();
+
+  float headingSum = (MSB << 8) + LSB; //(MSB / LSB sum)
+  float headingInt = headingSum / 10; 
+  
+  return headingInt;
+}
+
+void Compass::_beginTransmission(){
+  Wire.beginTransmission(HMC6352SlaveAddress);
+  Wire.write(HMC6352ReadAddress);
+}
+void Compass::_endTransmission(){
+  Wire.endTransmission();
+}
\ No newline at end of file