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7 CompassSensor (leJOS NXT API documentation)
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89 Class CompassSensor</H2>
91 <A HREF="../../java/lang/Object.html" title="class in java.lang">java.lang.Object</A>
92 <IMG SRC="../../resources/inherit.gif" ALT="extended by "><A HREF="../../lejos/nxt/I2CSensor.html" title="class in lejos.nxt">lejos.nxt.I2CSensor</A>
93 <IMG SRC="../../resources/inherit.gif" ALT="extended by "><B>lejos.nxt.CompassSensor</B>
96 <DT><B>All Implemented Interfaces:</B> <DD><A HREF="../../lejos/nxt/SensorConstants.html" title="interface in lejos.nxt">SensorConstants</A></DD>
100 <DT><PRE>public class <B>CompassSensor</B><DT>extends <A HREF="../../lejos/nxt/I2CSensor.html" title="class in lejos.nxt">I2CSensor</A></DL>
104 Abstraction for a HiTechnic or Mindsensors compass.
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117 <B>Field Summary</B></FONT></TH>
120 <A NAME="fields_inherited_from_class_lejos.nxt.SensorConstants"><!-- --></A>
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123 <TH ALIGN="left"><B>Fields inherited from interface lejos.nxt.<A HREF="../../lejos/nxt/SensorConstants.html" title="interface in lejos.nxt">SensorConstants</A></B></TH>
125 <TR BGCOLOR="white" CLASS="TableRowColor">
126 <TD><CODE><A HREF="../../lejos/nxt/SensorConstants.html#MODE_ANGLESTEP">MODE_ANGLESTEP</A>, <A HREF="../../lejos/nxt/SensorConstants.html#MODE_BOOLEAN">MODE_BOOLEAN</A>, <A HREF="../../lejos/nxt/SensorConstants.html#MODE_CELSIUS">MODE_CELSIUS</A>, <A HREF="../../lejos/nxt/SensorConstants.html#MODE_FARENHEIT">MODE_FARENHEIT</A>, <A HREF="../../lejos/nxt/SensorConstants.html#MODE_PCTFULLSCALE">MODE_PCTFULLSCALE</A>, <A HREF="../../lejos/nxt/SensorConstants.html#MODE_PERIODCOUNTER">MODE_PERIODCOUNTER</A>, <A HREF="../../lejos/nxt/SensorConstants.html#MODE_RAW">MODE_RAW</A>, <A HREF="../../lejos/nxt/SensorConstants.html#MODE_TRANSITIONCNT">MODE_TRANSITIONCNT</A>, <A HREF="../../lejos/nxt/SensorConstants.html#TYPE_ANGLE">TYPE_ANGLE</A>, <A HREF="../../lejos/nxt/SensorConstants.html#TYPE_CUSTOM">TYPE_CUSTOM</A>, <A HREF="../../lejos/nxt/SensorConstants.html#TYPE_LIGHT_ACTIVE">TYPE_LIGHT_ACTIVE</A>, <A HREF="../../lejos/nxt/SensorConstants.html#TYPE_LIGHT_INACTIVE">TYPE_LIGHT_INACTIVE</A>, <A HREF="../../lejos/nxt/SensorConstants.html#TYPE_LOWSPEED">TYPE_LOWSPEED</A>, <A HREF="../../lejos/nxt/SensorConstants.html#TYPE_LOWSPEED_9V">TYPE_LOWSPEED_9V</A>, <A HREF="../../lejos/nxt/SensorConstants.html#TYPE_NO_SENSOR">TYPE_NO_SENSOR</A>, <A HREF="../../lejos/nxt/SensorConstants.html#TYPE_REFLECTION">TYPE_REFLECTION</A>, <A HREF="../../lejos/nxt/SensorConstants.html#TYPE_SOUND_DB">TYPE_SOUND_DB</A>, <A HREF="../../lejos/nxt/SensorConstants.html#TYPE_SOUND_DBA">TYPE_SOUND_DBA</A>, <A HREF="../../lejos/nxt/SensorConstants.html#TYPE_SWITCH">TYPE_SWITCH</A>, <A HREF="../../lejos/nxt/SensorConstants.html#TYPE_TEMPERATURE">TYPE_TEMPERATURE</A></CODE></TD>
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136 <B>Constructor Summary</B></FONT></TH>
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139 <TD><CODE><B><A HREF="../../lejos/nxt/CompassSensor.html#CompassSensor(lejos.nxt.I2CPort)">CompassSensor</A></B>(lejos.nxt.I2CPort port)</CODE>
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156 <CODE> float</CODE></FONT></TD>
157 <TD><CODE><B><A HREF="../../lejos/nxt/CompassSensor.html#getDegrees()">getDegrees</A></B>()</CODE>
160 Returns the directional heading in degrees.</TD>
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164 <CODE> float</CODE></FONT></TD>
165 <TD><CODE><B><A HREF="../../lejos/nxt/CompassSensor.html#getDegreesCartesian()">getDegreesCartesian</A></B>()</CODE>
168 Compass readings increase clockwise from 0 to 360, but Cartesian
169 coordinate systems increase counter-clockwise.</TD>
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173 <CODE> void</CODE></FONT></TD>
174 <TD><CODE><B><A HREF="../../lejos/nxt/CompassSensor.html#resetCartesianZero()">resetCartesianZero</A></B>()</CODE>
177 Changes the current direction the compass is facing into the zero
180 <TR BGCOLOR="white" CLASS="TableRowColor">
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182 <CODE> void</CODE></FONT></TD>
183 <TD><CODE><B><A HREF="../../lejos/nxt/CompassSensor.html#startCalibration()">startCalibration</A></B>()</CODE>
186 Starts calibration for Mindsensors.com compass.</TD>
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190 <CODE> void</CODE></FONT></TD>
191 <TD><CODE><B><A HREF="../../lejos/nxt/CompassSensor.html#stopCalibration()">stopCalibration</A></B>()</CODE>
194 Ends calibration sequence.</TD>
197 <A NAME="methods_inherited_from_class_lejos.nxt.I2CSensor"><!-- --></A>
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203 <TD><CODE><A HREF="../../lejos/nxt/I2CSensor.html#getData(int, byte[], int)">getData</A>, <A HREF="../../lejos/nxt/I2CSensor.html#getProductID()">getProductID</A>, <A HREF="../../lejos/nxt/I2CSensor.html#getSensorType()">getSensorType</A>, <A HREF="../../lejos/nxt/I2CSensor.html#getVersion()">getVersion</A>, <A HREF="../../lejos/nxt/I2CSensor.html#sendData(int, byte[], int)">sendData</A></CODE></TD>
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224 <B>Constructor Detail</B></FONT></TH>
228 <A NAME="CompassSensor(lejos.nxt.I2CPort)"><!-- --></A><H3>
231 public <B>CompassSensor</B>(lejos.nxt.I2CPort port)</PRE>
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245 <A NAME="getDegrees()"><!-- --></A><H3>
248 public float <B>getDegrees</B>()</PRE>
250 <DD>Returns the directional heading in degrees. (0 to 359.9)
251 0 is due North (on Mindsensors circuit board a white arrow indicates
252 the direction of compass). Reading increases clockwise.
256 <DT><B>Returns:</B><DD>Heading in degrees. Resolution is within 0.1 degrees</DL>
261 <A NAME="getDegreesCartesian()"><!-- --></A><H3>
262 getDegreesCartesian</H3>
264 public float <B>getDegreesCartesian</B>()</PRE>
266 <DD>Compass readings increase clockwise from 0 to 360, but Cartesian
267 coordinate systems increase counter-clockwise. This method returns
268 the Cartesian compass reading. Also, the resetCartesianZero() method
269 can be used to designate any direction as zero, rather than relying
270 on North as being zero.
274 <DT><B>Returns:</B><DD>Cartesian direction.</DL>
279 <A NAME="resetCartesianZero()"><!-- --></A><H3>
280 resetCartesianZero</H3>
282 public void <B>resetCartesianZero</B>()</PRE>
284 <DD>Changes the current direction the compass is facing into the zero
293 <A NAME="startCalibration()"><!-- --></A><H3>
294 startCalibration</H3>
296 public void <B>startCalibration</B>()</PRE>
298 <DD>Starts calibration for Mindsensors.com compass. Must rotate *very*
299 slowly ,taking at least 20 seconds per rotation.
300 Mindsensors: At least 2 full rotations.
301 HiTechnic: 1.5 to 2 full rotations.
302 Must call stopCalibration() when done.
310 <A NAME="stopCalibration()"><!-- --></A><H3>
313 public void <B>stopCalibration</B>()</PRE>
315 <DD>Ends calibration sequence.
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