Digital Compass (I2C)

The I2C connection gave us a lot more trouble than we thought it would. We already had working example code to use but it took us half the day and three oscilloscopes to figure out that the compass does not have on board pull-up resistors. Once we added those, it worked. We compared the sets of readings in Hyperterminal and the I2C was much more consistent and had a higher resolution than the PWM.