| 0,0 → 1,75 |
|---|
| /* |
| HMC5843_basic.pde - Basic reading example for the HMC5843 library |
| Copyright (C) 2011 Fabio Varesano <fabio at varesano dot net> |
| |
| |
| This program is free software: you can redistribute it and/or modify |
| it under the terms of the version 3 GNU General Public License as |
| published by the Free Software Foundation. |
| |
| This program is distributed in the hope that it will be useful, |
| but WITHOUT ANY WARRANTY; without even the implied warranty of |
| MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
| GNU General Public License for more details. |
| |
| You should have received a copy of the GNU General Public License |
| along with this program. If not, see <http://www.gnu.org/licenses/>. |
| |
| */ |
| |
| #include <Wire.h> |
| #include <HMC58X3.h> |
| |
| HMC58X3 magn; |
| |
| void setup(void) { |
| Serial.begin(9600); |
| Wire.begin(); |
| |
| // no delay needed as we have already a delay(5) in HMC5843::init() |
| magn.init(false); // Dont set mode yet, we'll do that later on. |
| // Calibrate HMC using self test, not recommended to change the gain after calibration. |
| magn.calibrate(1); // Use gain 1=default, valid 0-7, 7 not recommended. |
| // Single mode conversion was used in calibration, now set continuous mode |
| magn.setMode(0); |
| } |
| |
| void loop() { |
| int ix,iy,iz; |
| float fx,fy,fz; |
| delay(10); |
| // Get values, as ints and floats. |
| magn.getValues(&ix,&iy,&iz); |
| magn.getValues(&fx,&fy,&fz); |
| // also available HMC5843::getValues(float *xyz) you can pass to it an array of 3 floats |
| |
| // Print int values |
| Serial.print("Ints x:"); |
| Serial.print(ix); |
| Serial.print(","); |
| Serial.print(iy); |
| Serial.print(","); |
| Serial.print(iz); |
| Serial.print(","); |
| |
| // Print float values |
| Serial.print(" Floats x:"); |
| Serial.print(fx); |
| Serial.print(" y:"); |
| Serial.print(fy); |
| Serial.print(" z:"); |
| Serial.print(fz); |
| |
| // a simple heading, assuming it's close to horizontal. See: |
| // M.J. Caruso. Applications of magnetic sensors for low cost compass systems. |
| // In Position Location and Navigation Symposium, IEEE, 2000. Available from: |
| // http://hnc.ru/lib/a%26c%20%28automatic%20%26%20controls%29/sensors/DataSheet/Magnit/Honeywell/lowcost.pdf |
| |
| Serial.print(" Heading: "); |
| float heading = atan2(fy, fx); |
| if(heading < 0) { |
| heading += 2 * M_PI; |
| } |
| Serial.println(heading * 180/M_PI); |
| // x and y axis are swapped above with respect to the above paper as our Z axis points to the sky while in the paper it points to the bottom |
| } |