49 lines
1.3 KiB
C++
49 lines
1.3 KiB
C++
#include <Wire.h>
|
|
#include "LSM303.h"
|
|
|
|
LSM303 compass;
|
|
|
|
void setup() {
|
|
Serial.begin(9600);
|
|
Wire.begin();
|
|
compass.init();
|
|
compass.enableDefault();
|
|
|
|
/*
|
|
Calibration values; the default values of +/-32767 for each axis
|
|
lead to an assumed magnetometer bias of 0. Use the Calibrate example
|
|
program to determine appropriate values for your particular unit.
|
|
*/
|
|
|
|
|
|
compass.m_min = (LSM303::vector<int16_t>){-3305, -1552, -2705};
|
|
compass.m_max = (LSM303::vector<int16_t>){+3370, +2796, +2058};
|
|
}
|
|
|
|
void loop() {
|
|
compass.read();
|
|
|
|
/*
|
|
When given no arguments, the heading() function returns the angular
|
|
difference in the horizontal plane between a default vector and
|
|
north, in degrees.
|
|
|
|
The default vector is chosen by the library to point along the
|
|
surface of the PCB, in the direction of the top of the text on the
|
|
silkscreen. This is the +X axis on the Pololu LSM303D carrier and
|
|
the -Y axis on the Pololu LSM303DLHC, LSM303DLM, and LSM303DLH
|
|
carriers.
|
|
|
|
To use a different vector as a reference, use the version of heading()
|
|
that takes a vector argument; for example, use
|
|
|
|
compass.heading((LSM303::vector<int>){0, 0, 1});
|
|
|
|
to use the +Z axis as a reference.
|
|
*/
|
|
float heading = compass.heading();
|
|
|
|
Serial.println(heading);
|
|
delay(100);
|
|
}
|