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#include //library wire ini memungkinkan kita untuk
berkomunikasi dengan I2C/TWI
perangkat. pada papan arduino ! yaitu terletak
"I$ pin out% &'(")alur
data% dan &C* ")am *ine%
#include //library ini memungkinkan kita mengetahui isi
pada tiap sensor
#include
/ (ssign a uni3ue I' to this sensor at the same time /
(da+ruit,-C00!,1ni4ed mag 5 (da+ruit,-C00!,1ni4ed"62!7%8
/// 9ow take a compass reading to supplement :;&
in+ormation
int y=8 //triple ais data/
/char nmeastr6?@8 // -C-':AAA.AA
int checksum8char hsB@8 // AAA.AA
/
oid display&ensor'etails"oid%
D
sensor,t sensor8
mag.get&ensor"Esensor%8
/
&erial.println"FGGGGGGGGGGGGGGGGGGGGGGGGGGGGGGGGGGGGF%8
&erial.print "F&ensorH F%8
&erial.println"sensor.name%8
&erial.print "F'rier erH F%8
&erial.println"sensor.ersion%8
&erial.print "F1ni3ue I'H F%8
&erial.println"sensor.sensor,id%8 &erial.print "Fa alueH
F%8 &erial.print"sensor.ma,alue%8 &erial.println"F
uTF%8
&erial.print "Fin alueH F%8
&erial.print"sensor.min,alue%8 &erial.println"F
uTF%8
&erial.print "FesolutionH F%8
&erial.print"sensor.resolution%8 &erial.println"F
uTF%8
&erial.println"FGGGGGGGGGGGGGGGGGGGGGGGGGGGGGGGGGGGGF%8
&erial.println"FF%8/
delay"AA%8
J
oid setup"oid%
D
&erial.begin"KBAA%8
/ &erial.println"F-C00! agnetometer TestF%8
&erial.println"FF%8
/ Initialise the sensor /
/i+"Lmag.begin"%%
D
/ There was a problem detecting the -C00! ... check your
connections / / &erial.println"F$oops no -C00! detected ...
Check your wiringLF%8
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while"6%8
J/
/ 'isplay some basic in+ormation on this sensor /
display&ensor'etails"%8
J
oid loop"oid%
D
/ :et a new sensor eent /
sensors,eent,t eent8
mag.getMent"Eeent%8
/ 'isplay the results "magnetic ector alues are in microGTesla
"uT%% /
&erial.print"FN-C-':F%8&erial.print"FF%8
&erial.print"eent.magnetic.%8
&erial.print"FF%8 &erial.print"eent.magnetic.y%8
&erial.print"FF%8
&erial.print"eent.magnetic.=%8
&erial.print"FF%8//&erial.print"FuTF%8
// -old the module so that O is pointing PupP and you can
measure the heading
with Ey
// Calculate heading when the magnetometer is leel then correct
+or signs o+
ais.
Qoat heading 5 atan2"eent.magnetic.y eent.magnetic.%8
// $nce you hae your heading you must then add your P'eclination
(ngleP
which is the PMrrorP o+ the magnetic 4eld in your location. //
Rind yours hereH httpH//www.magneticGdeclination.com/
// ine isH G6! 2P W which is S6! 'egrees or "which we need% A.22
radians
// I+ you cannot 4nd your 'eclination comment out these two
lines your
compass will be slightly o.
Qoat declination(ngle 5 A.228
heading U5 declination(ngle8
// Correct +or when signs are reersed.
i+"heading < A%
heading U5 2;I8
// Check +or wrap due to addition o+ declination.
i+"heading > 2;I%
heading G5 2;I8
// Conert radians to degrees +or readability.
Qoat heading'egrees 5 heading 60A/,;I8
&erial.print"heading'egrees%8&erial.print"FF%8&erial.println"F62F%8
