HiTechnicCompass.h

/*----------------------------------------------------------------------------*/
/* 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;

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