'compass.bs2    Arrick Robotics   www.robotics.com
'
'This routine demonstrates how to use a Dinsmore
'digital compass sensor.  The compass gives 8 
'directional headings (N,NE,E,SE,S,SW,W,NW).

heading var     byte(2)

main
        gosub   compass          'get heading.
        'print heading to debug window.
        debug "heading = ",str heading\2,cr  

        pause 500        'wait half a second.
        goto  main       'keep looping.


'------------------------------------------------
'this routine returns the direction of the robot.
'the variable heading has a string that tells the 
'direction of the robot.

compass
        if in4=0 then compassn  'check if north.
        if in2=0 then compasss  'check if south.
        if in5=0 then compassw  'check if west only.

compasse
        heading(0)="E"          'Set East.
        heading(1)=" "
        return

compassw
        heading(0)="W"          'Set West.
        heading(1)=" "
        return

compassn
        if in5=0 then compassnw   'West?
        if in3=0 then compassne   'East?
        heading(0)="N"            'Set North.
        heading(1)=" "
        return

compasss
        if in5=0 then compasssw   'Also west?
        if in3=0 then compassse   'Also east?
        heading(0)="S"            'South only?
        heading(1)=" "
        return

compassnw
        heading(0)="N"          'Set Northwest.
        heading(1)="W"
        return

compassne
        heading(0)="N"          'Set Northeast.
        heading(1)="E"
        return

compasssw
        heading(0)="S"          'Set Southwest.
        heading(1)="W"
        return

compassse
        heading(0)="S"          'Set Southeast.
        heading(1)="E"
        return