import lejos.nxt.addon.*;
import lejos.nxt.*;
import lejos.robotics.navigation.*;

/**
    calibrate compass sensor

    @author Bagnall, course text, p. 324
    @author adapted by Sharon Tuttle
    @version 2015-04-03
*/

public class CalibrateCompass
{
    /**
        calibrate compass sensor

        p. 324 - "Once this code is executed, the calibration
        settings are stored in non-volatile memory on the
        sensor, so you won't have to rerun the calibration when
        you turn in NXT brick off." ...allegedly...

        @param args not used
    */

    public static void main(String[] args)
    {
        CompassHTSensor compassSens = 
            new CompassHTSensor(SensorPort.S1);

        CompassPilot hector =
            new CompassPilot(compassSens, 4.32F, 15.5F, Motor.B,
                             Motor.C, true);
        hector.calibrate();
    }
}