Angle Sensor

#pragma config(Sensor, S2,     ANGLE,               sensorI2CCustom)


#include "drivers/HTANG-driver.h"

task main () {

  nxtDisplayCenteredTextLine(3, "WAIT A MOMENT!");


  wait1Msec(3000);

  eraseDisplay();
  nxtDisplayCenteredTextLine(0, "HiTechnic Angle");                          // Just graphics for the display
  nxtDisplayTextLine(1, "-------------------");
  nxtDisplayTextLine(5, "-------------------");
  while (true) {

    if (nNxtButtonPressed == kLeftButton) {                                  //left button resets angle value
      HTANGresetAngle(ANGLE);
      while (nNxtButtonPressed != kNoButton) EndTimeSlice();

    } else if (nNxtButtonPressed == kRightButton) {                          //right button resets all
      HTANGresetAccumulatedAngle(ANGLE);
      while (nNxtButtonPressed != kNoButton) EndTimeSlice();
    }


    nxtDisplayTextLine(2, "Ang: %7d deg", HTANGreadAngle(ANGLE));            // Read the current angle,
    nxtDisplayTextLine(3, "Tot: %7d deg", HTANGreadAccumulatedAngle(ANGLE)); // total angle and
    nxtDisplayTextLine(4, "RPM: %7d", HTANGreadRPM(ANGLE));                  // RPM and display them
    nxtDisplayTextLine(6, " <-Reset Angle");
    nxtDisplayTextLine(7, "   Reset Total->");
    wait1Msec(50);
  }
}