#include "mbed.h"
#include "GPS.h"
#include "HMC6352.h"
#include "SRF08.h"
#include "TMP102.h"
#include "TextLCD.h"

TextLCD lcd(p15, p16, p17, p18, p19, p20); // rs, e, d4-d7
SRF08 srf08(p9, p10, 0xE0);
HMC6352 compass(p9, p10);
TMP102 temperature(p9, p10, 0x90);
Serial pc(USBTX, USBRX);
GPS gps(p13, p14);

float RangeReading()
{
    float value;
    value = srf08.read();
    return (value);
}

int main()
{
    float distance = 0;
    lcd.printf("Start Sensor test...");
    wait (2.0);
    //Continuous mode, periodic set/reset, 20Hz measurement rate.
    compass.setOpMode(HMC6352_CONTINUOUS, 1, 20);

    while (1) {
        distance = RangeReading();
        lcd.cls();
        lcd.locate(0,0);
        lcd.printf("Range: %2.f cm\n",distance); //f=decimal floating point lower case
        wait(1.0);
        lcd.printf("Heading: %.1f\n", compass.sample() / 10.0);
        wait(1.0);
        lcd.printf("Temp: %2.f", temperature.read());
        wait(2.0);
        lcd.cls();
        if(gps.sample()) {
            lcd.printf("I'm at %f, %f\n", gps.longitude, gps.latitude);
        } else {
            lcd.printf("Oh Dear! No lock :(\n");
        }
        wait(1.0);
        lcd.cls();
        lcd.printf("ReScan For Data \n");
        wait(1.0);
    }
}

Had a very good weekend learning and would like to share information for any newbies like me picking things up. First up I've bought the book and would highly recommend it for newbies, I hope my future questions are a little more 'professional', and I've updated this thread as a result of reading the book! (1) The TMP102 temperature sensor is very voltage dependent I found it works best from pin 40 of the mbed and needs a stable supply voltage. As soon as my portable 4xAA rechargeable batteries went on discharge the sensors stopped working. I guess my rover project needs a good 6v sealed lead acid battery! At the moment I'm using a mains power supply set at 5.8v dc. (2) I now have all three sensors, distance, temperature and direction on the same I2C bus, again the book helped mainly because of the voltage supply requirements between the SRF08 (5.8v) and the other devices (3.3v from pin 40). (3) The EM-406 GPS indoors just needs time to locate satellites but outside I've found it rock solid after about 30secs. Use %f to display the full data.(Just need to work out how to translate the raw information) (4) Next up or me is the ITG-3200 Gyro board and ADXL345 Accelerometer with a lot of help from Aaron Berks page (and the book!) before I assemble things and use my Magnevation board. I'm particularly interested in using the PID algorithms for motion accuracy and stability. Here's some of my test code so far, hope it helps other newbies. <<code>> #include "mbed.h" #include "GPS.h" #include "HMC6352.h" #include "SRF08.h" #include "TMP102.h" #include "TextLCD.h" TextLCD lcd(p15, p16, p17, p18, p19, p20); // rs, e, d4-d7 SRF08 srf08(p9, p10, 0xE0); HMC6352 compass(p9, p10); TMP102 temperature(p9, p10, 0x90); Serial pc(USBTX, USBRX); GPS gps(p13, p14); float RangeReading() { float value; value = srf08.read(); return (value); } int main() { float distance = 0; lcd.printf("Start Sensor test..."); wait (2.0); //Continuous mode, periodic set/reset, 20Hz measurement rate. compass.setOpMode(HMC6352_CONTINUOUS, 1, 20); while (1) { distance = RangeReading(); lcd.cls(); lcd.locate(0,0); lcd.printf("Range: %2.f cm\n",distance); //f=decimal floating point lower case wait(1.0); lcd.printf("Heading: %.1f\n", compass.sample() / 10.0); wait(1.0); lcd.printf("Temp: %2.f", temperature.read()); wait(2.0); lcd.cls(); if(gps.sample()) { lcd.printf("I'm at %f, %f\n", gps.longitude, gps.latitude); } else { lcd.printf("Oh Dear! No lock :(\n"); } wait(1.0); lcd.cls(); lcd.printf("ReScan For Data \n"); wait(1.0); } } <</code>>