From 80d93faad20d67bde3ff954986ab53c70f736f22 Mon Sep 17 00:00:00 2001
From: Rob Tillaart <rob.tillaart@gmail.com>
Date: Thu, 7 Dec 2023 20:58:25 +0100
Subject: [PATCH] add example

---
 .../AS5600_plus_AS5600L.ino                   | 99 +++++++++++++++++++
 1 file changed, 99 insertions(+)
 create mode 100644 examples/AS5600_plus_AS5600L/AS5600_plus_AS5600L.ino

diff --git a/examples/AS5600_plus_AS5600L/AS5600_plus_AS5600L.ino b/examples/AS5600_plus_AS5600L/AS5600_plus_AS5600L.ino
new file mode 100644
index 0000000..70a012c
--- /dev/null
+++ b/examples/AS5600_plus_AS5600L/AS5600_plus_AS5600L.ino
@@ -0,0 +1,99 @@
+//    FILE: AS5600_plus_AS5600L.ino
+//  AUTHOR: laptophead
+// PURPOSE: showing working of a AS5600 and AS5600L side by side
+//     URL: https://github.com/RobTillaart/AS5600
+
+
+#include "AS5600.h"
+#include "Wire.h"
+
+AS5600 as5600_R;    //  uses default Wire
+AS5600L as5600_L;   //  uses default Wire
+
+int Raw_R;
+int Raw_Prev;
+
+float Deg_R,  Deg_L;
+float Deg_Prev_R, Deg_Prev_L;
+
+static uint32_t lastTime = 0;
+
+
+void setup()
+{
+  Serial.begin(230400);
+  Serial.println(__FILE__);
+  Serial.print("AS5600_LIB_VERSION: ");
+  Serial.println(AS5600_LIB_VERSION);
+  
+  Wire.begin();
+  
+  // as5600_L.setAddress(0x40);  // AS5600L only
+  as5600_L.begin(15);  //  set direction pin.
+  as5600_L.setDirection(AS5600_CLOCK_WISE);  //
+  delay(1000);
+  
+  as5600_R.begin(14);  //  set direction pin.
+  as5600_R.setDirection(AS5600_CLOCK_WISE);  // default, just be explicit.
+
+  delay(1000);
+  Serial.print ("Address For AS5600 R ");
+  Serial.println(as5600_R.getAddress());
+  Serial.print ("Address For AS5600 L ");
+  Serial.println(as5600_L.getAddress());
+
+  int b = as5600_R.isConnected();
+
+  Serial.print("Connect_R: ");
+  Serial.println(as5600_R.isConnected() ? "true" : "false");
+
+  Serial.print("Connect device LEFT: ");
+  Serial.println(as5600_L.isConnected() ? "true" : "false");
+
+  delay(1000);
+  as5600_R.resetPosition();
+  as5600_L.resetPosition();
+}
+
+
+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();
+
+    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;
+  }
+
+  //  just to show how reset can be used
+  if (as5600_R.getRevolutions() >= 1 )
+  {
+    as5600_R.resetPosition();
+
+    if ( as5600_R.getRevolutions() <= -1 )
+    {
+      as5600_R.resetPosition();
+    }
+  }
+}
+
+
+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;
+}
+
+
+//  -- END OF FILE --