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# device/CompassSensor.h

    00001 //
    00002 // CompassSensor.h
    00003 //
    00004 // Copyright 2009 by Takashi Chikamasa, Jon C. Martin and Robert W. Kramer
    00005 //
    00006
    00007 #ifndef COMPASSSENSOR_H_
    00008 #define COMPASSSENSOR_H_
    00009
    00010 #include "I2c.h"
    00011
    00012 namespace ecrobot
    00013 {
    00052 class CompassSensor
    00053 {
    00054 public:
    00064         explicit CompassSensor(ePortS port);
    00065
    00071         S16 getHeading(void) const;
    00072
    00084         inline void get(U8 data[5]) const { mI2c.receive(0x41, data, 5); }
    00085
    00091         void beginCalibration(void);
    00092
    00099         bool endCalibration(void);
    00100
    00101 private:
    00102         I2c mI2c; // composite
    00103 };
    00104 }
    00105
    00106 #endif