1 files changed, 42 insertions, 0 deletions
diff --git a/CODE/debug/IMU_comp/Calibrate/Calibrate.ino b/CODE/debug/IMU_comp/Calibrate/Calibrate.ino
new file mode 100644
index 0000000..c5db31c
--- /dev/null
+++ b/CODE/debug/IMU_comp/Calibrate/Calibrate.ino
@@ -0,0 +1,42 @@
+//example from https://github.com/pololu/lis3mdl-arduino
+#include <Wire.h>
+#include <LIS3MDL.h>
+
+LIS3MDL mag;
+LIS3MDL::vector<int16_t> running_min = {32767, 32767, 32767}, running_max = {-32768, -32768, -32768};
+
+char report[80];
+
+void setup()
+{
+  Serial.begin(9600);
+  Wire.begin();
+
+  if (!mag.init())
+  {
+    Serial.println("Failed to detect and initialize magnetometer!");
+    while (1);
+  }
+
+  mag.enableDefault();
+}
+
+void loop()
+{
+  mag.read();
+
+  running_min.x = min(running_min.x, mag.m.x);
+  running_min.y = min(running_min.y, mag.m.y);
+  running_min.z = min(running_min.z, mag.m.z);
+
+  running_max.x = max(running_max.x, mag.m.x);
+  running_max.y = max(running_max.y, mag.m.y);
+  running_max.z = max(running_max.z, mag.m.z);
+
+  snprintf(report, sizeof(report), "min: {%+6d, %+6d, %+6d}   max: {%+6d, %+6d, %+6d}",
+    running_min.x, running_min.y, running_min.z,
+    running_max.x, running_max.y, running_max.z);
+  Serial.println(report);
+
+  delay(100);
+}