compass.cpp

#include "compass.h"

Compass::Compass() : compass(Adafruit_HMC5883_Unified(12345)) {
  /*  
    if(!compass.begin()) {
      // There was a problem detecting the HMC5883 ... check your connections
      lcd->setCursor(1,0);
      lcd->print("Cannot find the compass");
    }
  */
  }
  
  void Compass::checkCompass() {
    sensors_event_t event; 
    compass.getEvent(&event);
    
    /*
     // Display the results (magnetic vector values are in micro-Tesla (uT))
    Serial.print("X: "); Serial.print(event.magnetic.x); Serial.print("  ");
    Serial.print("Y: "); Serial.print(event.magnetic.y); Serial.print("  ");
    Serial.print("Z: "); Serial.print(event.magnetic.z); Serial.print("  ");Serial.println("uT");
  
    // Hold the module so that Z is pointing 'up' and you can measure the heading with x&y
    // Calculate heading when the magnetometer is level, then correct for signs of axis.
    float heading = atan2(event.magnetic.y, event.magnetic.x);
    
    // Once you have your heading, you must then add your 'Declination Angle', which is the 'Error' of the magnetic field in your location.
    // Find yours here: http://www.magnetic-declination.com/
    // Mine is: -13* 2' W, which is ~13 Degrees, or (which we need) 0.22 radians
    // If you cannot find your Declination, comment out these two lines, your compass will be slightly off.
    float declinationAngle = 0.22;
    heading += declinationAngle;
    
    // Correct for when signs are reversed.
    if(heading < 0)
      heading += 2*PI;
      
    // Check for wrap due to addition of declination.
    if(heading > 2*PI)
      heading -= 2*PI;
     
    // Convert radians to degrees for readability.
    float headingDegrees = heading * 180/M_PI; 
    
    Serial.print("Heading (degrees): "); Serial.println(headingDegrees);
    */
  }
  
  void Compass::registerTripMaster(TripMaster* _tripMaster) {
   tripMaster = _tripMaster; 
}