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

1 files changed, 70 insertions, 0 deletions

diff --git a/libraries/Robot_Control/examples/explore/R04_Compass/R04_Compass.ino b/libraries/Robot_Control/examples/explore/R04_Compass/R04_Compass.ino
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+++ b/libraries/Robot_Control/examples/explore/R04_Compass/R04_Compass.ino
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+/* Robot Compass
+
+ The robot has an on-board compass module, with
+ which it can tell the direction the robot is 
+ facing. This sketch will make sure the robot 
+ goes towards a certain direction. 
+ 
+ Beware, magnets will interfere with the compass
+ readings.
+
+ Circuit:
+ * Arduino Robot
+ 
+ created 1 May 2013
+ by X. Yang
+ modified 12 May 2013
+ by D. Cuartielles
+ 
+ This example is in the public domain
+ */
+
+// include the robot library
+#include <ArduinoRobot.h>
+
+int speedLeft;
+int speedRight;
+int compassValue;
+int direc = 180;  //Direction the robot is heading
+
+void setup() {
+  // initialize the modules
+  Robot.begin();
+  Robot.beginTFT();
+  Robot.beginSD();
+  Robot.displayLogos();
+}
+
+void loop() { 
+  // read the compass orientation
+  compassValue = Robot.compassRead();
+  
+  // how many degrees are we off
+  int diff = compassValue-direc;
+  
+  // modify degress 
+  if(diff > 180)
+    diff = -360+diff;
+  else if(diff < -180)
+    diff = 360+diff;
+    
+  // Make the robot turn to its proper orientation
+  diff = map(diff, -180, 180, -255, 255);
+  
+  if(diff > 0) {
+    // keep the right wheel spinning, 
+    // change the speed of the left wheel 
+    speedLeft = 255-diff;
+    speedRight = 255;
+  } else {
+    // keep the right left spinning,
+    // change the speed of the left wheel   
+    speedLeft = 255;
+    speedRight = 255+diff;
+  }
+  // write out to the motors
+  Robot.motorsWrite(speedLeft, speedRight);
+
+  // draw the orientation on the screen
+  Robot.drawCompass(compassValue);
+}