text: #pragma config(Sensor, S1,     MICC,                sensorI2CCustom)
  //*!!Code automatically generated by 'ROBOTC' configuration wizard               !!*//
  
  /*
   * $Id: MICC-test2.c 59 2011-05-30 19:53:11Z xander $
   */
  
  /**
   * MICC-driver.h provides an API for the MicroInfinity CruizCore XG1300L sensor.
   * This program demonstrates how to use that API.
   *
   * Changelog:
   * - 0.1: Initial release
   *
   * Credits:
   * - Big thanks to MicroInfinity for providing me with the hardware necessary to write and test this.
   *
   * License: You may use this code as you wish, provided you give credit where it's due.
   *
   * THIS CODE WILL ONLY WORK WITH ROBOTC VERSION 2.00 AND HIGHER.
   * Xander Soldaat (mightor_at_gmail.com)
   * 29 May 2011
   * version 0.1
   */
  
  #include "drivers/MICC-driver.h"
  
  int angleI = 0;
  int rotI = 0;
  int x_accel = 0;
  int y_accel = 0;
  int z_accel = 0;
  
  task updateHUD () {
    int x = 0;
    int y = 0;
  
    while (true) {
      nxtEraseRect(4,50, 44,10);
      nxtDisplayTextLine(2, "        H: %3d", angleI/100);
      nxtDisplayTextLine(3, "        X: %3d", x_accel/100);
      nxtDisplayTextLine(4, "        Y: %3d", y_accel/100);
      nxtDisplayTextLine(5, "        Z: %3d", z_accel/100);
      nxtDrawCircle(84, 50, 4);
  
      nxtDrawCircle(4, 50, 40);
      x = (cosDegrees(-1 * (angleI/100 - 90)) * 20) + 24;
      y = (sinDegrees(-1 * (angleI/100 - 90)) * 20) + 30;
      nxtDrawLine(24, 30, x, y);
      nxtEraseRect(0,0, 99, 8);
      nxtDrawRect(0,0, 99, 8);
      nxtFillRect(50,0, (float)(rotI / 150)/100.0 *50 + 50, 8);
      wait1Msec(100);
    }
  }
  
  task main () {
  
    nxtDisplayCenteredTextLine(0, "MicroInfinity");
    nxtDisplayTextLine(1, "CruizCore XG1300L");
    nxtDisplayCenteredTextLine(3, "Test 2");
    wait1Msec(2000);
    eraseDisplay();
  
    // There are 3 ranges the Cruizcore XG1300L can measure in
    // up to 2G
    // up to 4G
    // up to 8G
    MICCsetRange8G(MICC);
  
    // Make sure you always reset the sensor at the beginning of your program
    // The robot needs to be completely stationary or your heading and gyro
    // data won't be accurate.
    MICCreset(MICC);
  
    // Start the task for displaying all the sensor data.
    StartTask(updateHUD);
  
    nxtDisplayTextLine(0, "CruizCore XG1300L");
    while (true) {
      // Read the relative heading from the sensor.
      angleI = MICCreadRelativeHeading(MICC);
  
      // Read the rate of turn
      rotI = MICCreadTurnRate(MICC);
  
      // Read the acceleration data from the sensor
      if (!MICCreadAccel(MICC, x_accel, y_accel, z_accel)) {
        StopTask(updateHUD);
        wait1Msec(100);
        eraseDisplay();
        nxtDisplayTextLine(4, "ERROR!!");
        wait1Msec(2000);
        StopAllTasks();
      }
      wait1Msec(50);
    }
  }
  
  /*
   * $Id: MICC-test2.c 59 2011-05-30 19:53:11Z xander $
   */
  