Appendix M: Pseudocode for Obtaining a Direction
The program continuously enters this routine checking to
see if a direction needs to be obtained.
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Poll_Compass
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IF (state equals waiting_for_direction)
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IF (EOC is HIGH)
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Clock in the first 8-bits of data from the compass
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Save the LSB
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Clock in the last 8-bits of data from the compass
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Determine index into array based upon the data received
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Determine if the steps are in the forward or reverse
direction
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IF (direction is positive (i.e. 0 – 179 degrees))
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Add the current Step_Count
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to the newly indexed array element
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ELSE
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Subtract the current Step_Count
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from newly indexed array element
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ENDIF
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Clear the Step_Count
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Change state to indicate not waiting_for_direction
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ENDIF
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ENDIF
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RETURN
