[Mac Cody] wanted to add a digital compass to his robot. He thought the idea of the affordable Dinsmore 1490 digital compass using 4bits to transmit 3bits of data was ridiculous. He decided to build his own 16 point digital compass instead. The compass has four pairs of IRLEDs that reflect off of a gray code wheel. Each concentric track on the wheel represents 1 bit. He ran into some trouble when the compass magnets were being thrown off by the component leads. It just required a bit of tweaking to get right. Mac isn’t sure that this is the most cost effective way to gain one more bit of precision, but he did enjoy the experience and gained a greater appreciation for commercial units.