@Override public void onSensorChanged(SensorEvent event) { if (robotLocation != null && (!route.isEmpty()) && running && textToSpeech != null) { // Legacy compass sensor code // compassBearingDegrees = Utilities.correctCompassBearing(Math.round(event.values[0]), // robotLocation); float azimuth = 0; azimuth = Utilities.landscapeModeCompassCalibration(event); compassBearingDegrees = Utilities.correctCompassBearing(azimuth, robotLocation); currentDegree = Utilities.compassAnimationHandler(ivCompass, compassBearingDegrees, currentDegree); currentDegreeNorth = Utilities.compassNorthIconHandler( ivCompassNorth, compassBearingDegrees, currentDegreeNorth); } }