Magnetic Compass

#pragma config(Sensor, S2,     COMPASS,  sensorI2CHiTechnicCompass)

task main()
{
  wait1Msec(2000);
  int degrees = 90;                                   // 90 degrees
  int goal = (SensorValue[COMPASS] + degrees) % 360;  // 'goal' is current compass sensor reading + degrees
                                                      // use modulus(%) 360 to keep the goal within the bounds
                                                      // of the compassSensor (1 to 360 degrees, 0 is 360).                    */

  while(SensorValue[COMPASS] != goal)                 // while the compassSensor sensor reading has not reach the goal:
  {                                                   // turn RIGHT in place
    motor[motorA] = -10;           	                  // set motorB to speed -10
    motor[motorB] = 10;            	                  // set motorB to speed 10
  }
                                                       // stop the robot:
  motor[motorA] = 0;                                   // set motorA and motorB to speed 0
  motor[motorB]  = 0;
  wait1Msec(1000);
}