/*
By Andrew Chanler - Fall 2003

Handyboard driver for using Devantech Magnetic Compass - CMPS03
refer to http://www.cs.uml.edu/~achanler/robotics/
*/

#use "alc_cmps03.icb"

int compass()
{
    int x;
    float z;
    int y;
    float degree;
    
    x = compass_driver(0);
    z = ((float) ( 0x0F & x) )+( 256.0*((float) ( x >> 8) )) ;
    
    if((z < 7440.0)&&(compass_wrap))
      z+=65536.0;
    
    degree = ((z - 1792.0)*360.0)/71183.0;
    y = (int) (degree+.5);
    y = y % 360;
    return y;
}

void main()
{
    while(1)
      {
        printf("compass: %d\n",compass());
        sleep(.3);        
    }
}