| jerrym | f157933 | 2013-02-07 01:56:28 +0000 | [diff] [blame^] | 1 | /*----------------------------------------------------------------------------*/
|
| 2 | /* Copyright (c) FIRST 2008. All Rights Reserved. */
|
| 3 | /* Open Source Software - may be modified and shared by FRC teams. The code */
|
| 4 | /* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */
|
| 5 | /*----------------------------------------------------------------------------*/
|
| 6 |
|
| 7 | #ifndef __HiTechnicCompass_h__
|
| 8 | #define __HiTechnicCompass_h__
|
| 9 |
|
| 10 | #include "SensorBase.h"
|
| 11 | #include "LiveWindow/LiveWindowSendable.h"
|
| 12 |
|
| 13 | class I2C;
|
| 14 |
|
| 15 | /**
|
| 16 | * HiTechnic NXT Compass.
|
| 17 | *
|
| 18 | * This class alows access to a HiTechnic NXT Compass on an I2C bus.
|
| 19 | * These sensors to not allow changing addresses so you cannot have more
|
| 20 | * than one on a single bus.
|
| 21 | *
|
| 22 | * Details on the sensor can be found here:
|
| 23 | * http://www.hitechnic.com/index.html?lang=en-us&target=d17.html
|
| 24 | *
|
| 25 | * @todo Implement a calibration method for the sensor.
|
| 26 | */
|
| 27 | class HiTechnicCompass : public SensorBase, public LiveWindowSendable
|
| 28 | {
|
| 29 | public:
|
| 30 | explicit HiTechnicCompass(UINT8 moduleNumber);
|
| 31 | virtual ~HiTechnicCompass();
|
| 32 | float GetAngle();
|
| 33 |
|
| 34 | void UpdateTable();
|
| 35 | void StartLiveWindowMode();
|
| 36 | void StopLiveWindowMode();
|
| 37 | std::string GetSmartDashboardType();
|
| 38 | void InitTable(ITable *subTable);
|
| 39 | ITable * GetTable();
|
| 40 |
|
| 41 | private:
|
| 42 | static const UINT8 kAddress = 0x02;
|
| 43 | static const UINT8 kManufacturerBaseRegister = 0x08;
|
| 44 | static const UINT8 kManufacturerSize = 0x08;
|
| 45 | static const UINT8 kSensorTypeBaseRegister = 0x10;
|
| 46 | static const UINT8 kSensorTypeSize = 0x08;
|
| 47 | static const UINT8 kHeadingRegister = 0x44;
|
| 48 |
|
| 49 | I2C* m_i2c;
|
| 50 |
|
| 51 | ITable *m_table;
|
| 52 | };
|
| 53 |
|
| 54 | #endif
|
| 55 |
|