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// FILE: AS5600_plus_AS5600L.ino | ||
// AUTHOR: laptophead | ||
// PURPOSE: showing working of a AS5600 and AS5600L side by side | ||
// URL: https://github.com/RobTillaart/AS5600 | ||
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#include "AS5600.h" | ||
#include "Wire.h" | ||
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AS5600 as5600_R; // uses default Wire | ||
AS5600L as5600_L; // uses default Wire | ||
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int Raw_R; | ||
int Raw_Prev; | ||
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float Deg_R, Deg_L; | ||
float Deg_Prev_R, Deg_Prev_L; | ||
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static uint32_t lastTime = 0; | ||
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void setup() | ||
{ | ||
Serial.begin(230400); | ||
Serial.println(__FILE__); | ||
Serial.print("AS5600_LIB_VERSION: "); | ||
Serial.println(AS5600_LIB_VERSION); | ||
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Wire.begin(); | ||
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// as5600_L.setAddress(0x40); // AS5600L only | ||
as5600_L.begin(15); // set direction pin. | ||
as5600_L.setDirection(AS5600_CLOCK_WISE); // | ||
delay(1000); | ||
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as5600_R.begin(14); // set direction pin. | ||
as5600_R.setDirection(AS5600_CLOCK_WISE); // default, just be explicit. | ||
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delay(1000); | ||
Serial.print ("Address For AS5600 R "); | ||
Serial.println(as5600_R.getAddress()); | ||
Serial.print ("Address For AS5600 L "); | ||
Serial.println(as5600_L.getAddress()); | ||
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int b = as5600_R.isConnected(); | ||
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Serial.print("Connect_R: "); | ||
Serial.println(as5600_R.isConnected() ? "true" : "false"); | ||
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Serial.print("Connect device LEFT: "); | ||
Serial.println(as5600_L.isConnected() ? "true" : "false"); | ||
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delay(1000); | ||
as5600_R.resetPosition(); | ||
as5600_L.resetPosition(); | ||
} | ||
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void loop() | ||
{ | ||
Deg_R = convertRawAngleToDegrees(as5600_R.getCumulativePosition()); | ||
Deg_L = convertRawAngleToDegrees(as5600_L.getCumulativePosition()); | ||
// update every 100 ms | ||
// should be enough up to ~200 RPM | ||
if (millis() - lastTime >= 100 and Deg_R != Deg_Prev_R) | ||
{ | ||
lastTime = millis(); | ||
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Serial.println("REV R: " + String(as5600_R.getRevolutions())); | ||
Serial.println("REV L: " + String(as5600_L.getRevolutions())); | ||
Serial.println("DEG R= " + String(Deg_R, 0) + "°" ); | ||
Serial.println("DEG L= " + String(Deg_L, 0) + "°" ); | ||
Deg_Prev_R = Deg_R; | ||
} | ||
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// just to show how reset can be used | ||
if (as5600_R.getRevolutions() >= 1 ) | ||
{ | ||
as5600_R.resetPosition(); | ||
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if ( as5600_R.getRevolutions() <= -1 ) | ||
{ | ||
as5600_R.resetPosition(); | ||
} | ||
} | ||
} | ||
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float convertRawAngleToDegrees(uint32_t newAngle) | ||
{ | ||
/* Raw data reports 0 - 4095 segments, which is 0.087890625 of a degree */ | ||
float retVal = newAngle * 0.087890625; | ||
retVal = round(retVal); | ||
// retVal=retVal/10; | ||
return retVal; | ||
} | ||
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// -- END OF FILE -- |