Initial checkin of unified hierarchy of WPILib 2015

wpilibc/src/main/include/HiTechnicCompass.h

@@ -0,0 +1,55 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008. All Rights Reserved.							  */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib.  */
+/*----------------------------------------------------------------------------*/
+
+#ifndef __HiTechnicCompass_h__
+#define __HiTechnicCompass_h__
+
+#include "SensorBase.h"
+#include "LiveWindow/LiveWindowSendable.h"
+
+class I2C;
+
+/**
+ * HiTechnic NXT Compass.
+ * 
+ * This class alows access to a HiTechnic NXT Compass on an I2C bus.
+ * These sensors to not allow changing addresses so you cannot have more
+ *   than one on a single bus.
+ * 
+ * Details on the sensor can be found here:
+ *   http://www.hitechnic.com/index.html?lang=en-us&target=d17.html
+ * 
+ * @todo Implement a calibration method for the sensor.
+ */
+class HiTechnicCompass : public SensorBase, public LiveWindowSendable
+{
+public:
+	explicit HiTechnicCompass(uint8_t moduleNumber);
+	virtual ~HiTechnicCompass();
+	float GetAngle();
+	
+	void UpdateTable();
+	void StartLiveWindowMode();
+	void StopLiveWindowMode();
+	std::string GetSmartDashboardType();
+	void InitTable(ITable *subTable);
+	ITable * GetTable();
+
+private:
+	static const uint8_t kAddress = 0x02;
+	static const uint8_t kManufacturerBaseRegister = 0x08;
+	static const uint8_t kManufacturerSize = 0x08;
+	static const uint8_t kSensorTypeBaseRegister = 0x10;
+	static const uint8_t kSensorTypeSize = 0x08;
+	static const uint8_t kHeadingRegister = 0x44;
+
+	I2C* m_i2c;
+	
+	ITable *m_table;
+};
+
+#endif
+