From fd8c367304fe62a107332db19880c88f9ac0d082 Mon Sep 17 00:00:00 2001 From: Fede85 Date: Wed, 3 Jul 2013 22:00:02 +0200 Subject: SPI library to the new format and moved Robot_Motor and Robot_Control libraries --- libraries/Robot_Control/Compass.cpp | 34 ---------------------------------- 1 file changed, 34 deletions(-) delete mode 100644 libraries/Robot_Control/Compass.cpp (limited to 'libraries/Robot_Control/Compass.cpp') diff --git a/libraries/Robot_Control/Compass.cpp b/libraries/Robot_Control/Compass.cpp deleted file mode 100644 index 1b1ef31..0000000 --- a/libraries/Robot_Control/Compass.cpp +++ /dev/null @@ -1,34 +0,0 @@ -#include "Compass.h" -#include - -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 -- cgit v1.2.3-18-g5258