CompassController

#CompassController

The class that manages the compass system(s)

#Initialization No inputs. Assumes that the compass is connected to I2C.

##Methods ###Setup Description: Sets up the compass for continuous measurement mode.

###Loop Description: Every 10 milliseconds it gets the measurements from the compass. It also converts the measurements to degrees.

###getDegreeHeading Description: Returns the heading in degrees Output: double

###getAverageHeading Description: Returns the average from the last four readings. Output: double

###getCount Description: Returns the number of times a measurement was read. Output: int

##Variables

Name	Type	View	Description
x	int	Private	The x measurement
y	int	Private	The y measurement
z	int	Private	The z measurement
h	double	Private	The current heading in radians
degreeHeading	double	Private	The current measurement in degrees
lastCheckTime	long	Private	The last time it has measured the heading
currentTime	long	Private	The current time
i	int	Private	number of times the for loop has iterated for the average
average[4]	double[]	Private	The last four heading measurements
count	int	Private	number of times the system has taken measurements