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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;
00103 };
00104 }
00105
00106 #endif