static void Main(string[] args)
{
int DEGREES_OFFSET = -20;
StateStore.Start("MagTest");
BeagleBone.Initialize(SystemMode.DEFAULT, true);
BBBPinManager.AddMappingsI2C(BBBPin.P9_17, BBBPin.P9_26);
BBBPinManager.ApplyPinSettings(BBBPinManager.ApplicationMode.APPLY_IF_NONE);
II2CBus I2C = I2CBBB.I2CBus1;
Console.WriteLine("Status: BBB Pin Mapings Complete");
if (I2C == null)
{
Console.WriteLine("ERROR: I2C not mapped correctly. Fix First");
}
else
{
Console.WriteLine("Status: I2C Not null");
BNO055 magObj = new BNO055(I2C);
Console.WriteLine("Status: BNO055 object created");
magObj.SetMode(BNO055.OperationMode.OPERATION_MODE_COMPASS);
magObj.Begin();
double direction;
while (true)
{
Tuple <float, float, float> magnets;
magnets = magObj.GetVector(BNO055.VectorType.VECTOR_MAGNETOMETER);
// Convert magnetic readings to degrees
direction = getDegrees(magnets);
//Add the offset from specific location
direction += DEGREES_OFFSET;
// Make sure degrees value is between 0 and 360
direction = standarize(direction);
Console.WriteLine(direction);
}
}
}
