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<a href="#pub-methods">Public Member Functions</a> &#124;
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<p>Class that functions for interacting with <a class="el" href="classAS5601.html" title="Class that functions for interacting with AS5601 magnetic rotary position sensor. ...">AS5601</a> magnetic rotary position sensor.
<a href="classAS5601.html#details">More...</a></p>
<p><code>#include &lt;<a class="el" href="as5601_8h_source.html">as5601.h</a>&gt;</code></p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:a51af9d44432ad5ccaa764a98d2450ec3"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classAS5601.html#a51af9d44432ad5ccaa764a98d2450ec3">Begin</a> ()</td></tr>
<tr class="memdesc:a51af9d44432ad5ccaa764a98d2450ec3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Initialize the I2C bus. <a href="#a51af9d44432ad5ccaa764a98d2450ec3">More...</a><br /></td></tr>
<tr class="separator:a51af9d44432ad5ccaa764a98d2450ec3"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9cbfc7e9a35fd7b4c0cfa04fec4bf0c5"><td class="memItemLeft" align="right" valign="top">uint8_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classAS5601.html#a9cbfc7e9a35fd7b4c0cfa04fec4bf0c5">get_pos</a> (double *new_pos)</td></tr>
<tr class="memdesc:a9cbfc7e9a35fd7b4c0cfa04fec4bf0c5"><td class="mdescLeft">&#160;</td><td class="mdescRight">Calculate an unwrap the position. <a href="#a9cbfc7e9a35fd7b4c0cfa04fec4bf0c5">More...</a><br /></td></tr>
<tr class="separator:a9cbfc7e9a35fd7b4c0cfa04fec4bf0c5"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad8192e27c57aaef265e0649876ca6bf2"><td class="memItemLeft" align="right" valign="top">uint8_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classAS5601.html#ad8192e27c57aaef265e0649876ca6bf2">get_agc</a> ()</td></tr>
<tr class="memdesc:ad8192e27c57aaef265e0649876ca6bf2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Calculate the automatic gain control (AGC) <a href="#ad8192e27c57aaef265e0649876ca6bf2">More...</a><br /></td></tr>
<tr class="separator:ad8192e27c57aaef265e0649876ca6bf2"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6fd828b9871407420fb8a277d13e769c"><td class="memItemLeft" align="right" valign="top">uint16_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classAS5601.html#a6fd828b9871407420fb8a277d13e769c">get_magnitude</a> ()</td></tr>
<tr class="memdesc:a6fd828b9871407420fb8a277d13e769c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the magnitude value of the internal CORDIC output. <a href="#a6fd828b9871407420fb8a277d13e769c">More...</a><br /></td></tr>
<tr class="separator:a6fd828b9871407420fb8a277d13e769c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:abfce6bb3f9888bca6c8527ea0d4fad88"><td class="memItemLeft" align="right" valign="top">uint16_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classAS5601.html#abfce6bb3f9888bca6c8527ea0d4fad88">get_conf</a> ()</td></tr>
<tr class="memdesc:abfce6bb3f9888bca6c8527ea0d4fad88"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the configuration register. <a href="#abfce6bb3f9888bca6c8527ea0d4fad88">More...</a><br /></td></tr>
<tr class="separator:abfce6bb3f9888bca6c8527ea0d4fad88"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af760a7dd400974baf9daebad22920bdb"><td class="memItemLeft" align="right" valign="top">uint8_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classAS5601.html#af760a7dd400974baf9daebad22920bdb">set_zero</a> ()</td></tr>
<tr class="memdesc:af760a7dd400974baf9daebad22920bdb"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set zero by setting offset angle. <a href="#af760a7dd400974baf9daebad22920bdb">More...</a><br /></td></tr>
<tr class="separator:af760a7dd400974baf9daebad22920bdb"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a865a4971a787bbdb9ff64fd31e2eb348"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classAS5601.html#a865a4971a787bbdb9ff64fd31e2eb348">init_zero</a> ()</td></tr>
<tr class="memdesc:a865a4971a787bbdb9ff64fd31e2eb348"><td class="mdescLeft">&#160;</td><td class="mdescRight">Reset zero position set the offset to zero. <a href="#a865a4971a787bbdb9ff64fd31e2eb348">More...</a><br /></td></tr>
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<tr class="memitem:aeb9eb168d26d44261dc37d4ca54ae24f"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classAS5601.html#aeb9eb168d26d44261dc37d4ca54ae24f">set_gear_ratio</a> (uint8_t enc_ratio)</td></tr>
<tr class="memdesc:aeb9eb168d26d44261dc37d4ca54ae24f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the gear ratio between encoder and measure axis. <a href="#aeb9eb168d26d44261dc37d4ca54ae24f">More...</a><br /></td></tr>
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Private Member Functions</h2></td></tr>
<tr class="memitem:afcac1b1abeeea88e465694373136168a"><td class="memItemLeft" align="right" valign="top">uint8_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classAS5601.html#afcac1b1abeeea88e465694373136168a">i2c_byte_transaction</a> (uint8_t i2c_address, uint8_t i2c_register)</td></tr>
<tr class="separator:afcac1b1abeeea88e465694373136168a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2d48c32082d4bfa19bde77d614cc78dc"><td class="memItemLeft" align="right" valign="top">uint16_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classAS5601.html#a2d48c32082d4bfa19bde77d614cc78dc">i2c_word_transaction</a> (uint8_t i2c_address, uint8_t i2c_register)</td></tr>
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Private Attributes</h2></td></tr>
<tr class="memitem:a9b2058241b8e88142e6376ac5a8abeb4"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classAS5601.html#a9b2058241b8e88142e6376ac5a8abeb4">_angle_offset</a> = 0</td></tr>
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<tr class="memitem:a6524caff1a797ace0b48dfcad375f37a"><td class="memItemLeft" align="right" valign="top">int32_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classAS5601.html#a6524caff1a797ace0b48dfcad375f37a">_n</a> = 0</td></tr>
<tr class="separator:a6524caff1a797ace0b48dfcad375f37a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a104f193f38617cb45e2af426f10971af"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classAS5601.html#a104f193f38617cb45e2af426f10971af">_raw_prev_pos</a> = 0</td></tr>
<tr class="separator:a104f193f38617cb45e2af426f10971af"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6523b0a1e1d9451b1df96398e7212b90"><td class="memItemLeft" align="right" valign="top">uint8_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classAS5601.html#a6523b0a1e1d9451b1df96398e7212b90">_enc_ratio</a> = 0</td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>Class that functions for interacting with <a class="el" href="classAS5601.html" title="Class that functions for interacting with AS5601 magnetic rotary position sensor. ...">AS5601</a> magnetic rotary position sensor. </p>
<p class="definition">Definition at line <a class="el" href="as5601_8h_source.html#l00035">35</a> of file <a class="el" href="as5601_8h_source.html">as5601.h</a>.</p>
</div><h2 class="groupheader">Member Function Documentation</h2>
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<h2 class="memtitle"><span class="permalink"><a href="#a51af9d44432ad5ccaa764a98d2450ec3">&#9670;&nbsp;</a></span>Begin()</h2>
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<td class="memname">void AS5601::Begin </td>
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<p>Initialize the I2C bus. </p>
<p class="definition">Definition at line <a class="el" href="as5601_8h_source.html#l00043">43</a> of file <a class="el" href="as5601_8h_source.html">as5601.h</a>.</p>
<p class="reference">References <a class="el" href="as5601_8h_source.html#l00017">I2C_FREQ</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#ad8192e27c57aaef265e0649876ca6bf2">&#9670;&nbsp;</a></span>get_agc()</h2>
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<p>Calculate the automatic gain control (AGC) </p>
<dl class="section return"><dt>Returns</dt><dd>The AGC range is 0-255 counts, the gain value should be in the center of its range </dd></dl>
<p class="definition">Definition at line <a class="el" href="as5601_8h_source.html#l00096">96</a> of file <a class="el" href="as5601_8h_source.html">as5601.h</a>.</p>
<p class="reference">References <a class="el" href="as5601_8h_source.html#l00023">AGC</a>, <a class="el" href="as5601_8h_source.html#l00019">AS5601_ID</a>, and <a class="el" href="as5601_8h_source.html#l00162">i2c_byte_transaction()</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#abfce6bb3f9888bca6c8527ea0d4fad88">&#9670;&nbsp;</a></span>get_conf()</h2>
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<p>Get the configuration register. </p>
<dl class="section return"><dt>Returns</dt><dd>The Configuration register </dd></dl>
<p class="definition">Definition at line <a class="el" href="as5601_8h_source.html#l00116">116</a> of file <a class="el" href="as5601_8h_source.html">as5601.h</a>.</p>
<p class="reference">References <a class="el" href="as5601_8h_source.html#l00019">AS5601_ID</a>, <a class="el" href="as5601_8h_source.html#l00026">CONF_HIGH</a>, and <a class="el" href="as5601_8h_source.html#l00172">i2c_word_transaction()</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a6fd828b9871407420fb8a277d13e769c">&#9670;&nbsp;</a></span>get_magnitude()</h2>
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<p>Get the magnitude value of the internal CORDIC output. </p>
<dl class="section return"><dt>Returns</dt><dd>The magnitude value of the internal CORDIC output </dd></dl>
<p class="definition">Definition at line <a class="el" href="as5601_8h_source.html#l00106">106</a> of file <a class="el" href="as5601_8h_source.html">as5601.h</a>.</p>
<p class="reference">References <a class="el" href="as5601_8h_source.html#l00019">AS5601_ID</a>, <a class="el" href="as5601_8h_source.html#l00172">i2c_word_transaction()</a>, and <a class="el" href="as5601_8h_source.html#l00024">MAGNITUDE_HIGH</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a9cbfc7e9a35fd7b4c0cfa04fec4bf0c5">&#9670;&nbsp;</a></span>get_pos()</h2>
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<p>Calculate an unwrap the position. </p>
<dl class="params"><dt>Parameters</dt><dd>
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<dl class="section return"><dt>Returns</dt><dd>The state of the <a class="el" href="classAS5601.html" title="Class that functions for interacting with AS5601 magnetic rotary position sensor. ...">AS5601</a>: Magnet is too strong Magnet is too weak Magnet was detect </dd></dl>
<p class="definition">Definition at line <a class="el" href="as5601_8h_source.html#l00059">59</a> of file <a class="el" href="as5601_8h_source.html">as5601.h</a>.</p>
<p class="reference">References <a class="el" href="as5601_8h_source.html#l00157">_angle_offset</a>, <a class="el" href="as5601_8h_source.html#l00160">_enc_ratio</a>, <a class="el" href="as5601_8h_source.html#l00158">_n</a>, <a class="el" href="as5601_8h_source.html#l00159">_raw_prev_pos</a>, <a class="el" href="as5601_8h_source.html#l00019">AS5601_ID</a>, <a class="el" href="as5601_8h_source.html#l00162">i2c_byte_transaction()</a>, <a class="el" href="as5601_8h_source.html#l00172">i2c_word_transaction()</a>, <a class="el" href="as5601_8h_source.html#l00020">RAW_ANG_HIGH</a>, and <a class="el" href="as5601_8h_source.html#l00022">STATUS_REG</a>.</p>
<p class="reference">Referenced by <a class="el" href="dc__motor__controller_8ino_source.html#l00214">homing()</a>, <a class="el" href="dc__motor__controller_8ino_source.html#l00105">loop()</a>, and <a class="el" href="as5601_8h_source.html#l00129">set_zero()</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#afcac1b1abeeea88e465694373136168a">&#9670;&nbsp;</a></span>i2c_byte_transaction()</h2>
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<td class="memname">uint8_t AS5601::i2c_byte_transaction </td>
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<td class="paramtype">uint8_t&#160;</td>
<td class="paramname"><em>i2c_address</em>, </td>
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<td class="paramtype">uint8_t&#160;</td>
<td class="paramname"><em>i2c_register</em>&#160;</td>
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<p class="definition">Definition at line <a class="el" href="as5601_8h_source.html#l00162">162</a> of file <a class="el" href="as5601_8h_source.html">as5601.h</a>.</p>
<p class="reference">Referenced by <a class="el" href="as5601_8h_source.html#l00096">get_agc()</a>, <a class="el" href="as5601_8h_source.html#l00059">get_pos()</a>, and <a class="el" href="as5601_8h_source.html#l00172">i2c_word_transaction()</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a2d48c32082d4bfa19bde77d614cc78dc">&#9670;&nbsp;</a></span>i2c_word_transaction()</h2>
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<td class="memname">uint16_t AS5601::i2c_word_transaction </td>
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<td class="paramname"><em>i2c_address</em>, </td>
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<td class="paramtype">uint8_t&#160;</td>
<td class="paramname"><em>i2c_register</em>&#160;</td>
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<p class="definition">Definition at line <a class="el" href="as5601_8h_source.html#l00172">172</a> of file <a class="el" href="as5601_8h_source.html">as5601.h</a>.</p>
<p class="reference">References <a class="el" href="as5601_8h_source.html#l00162">i2c_byte_transaction()</a>.</p>
<p class="reference">Referenced by <a class="el" href="as5601_8h_source.html#l00116">get_conf()</a>, <a class="el" href="as5601_8h_source.html#l00106">get_magnitude()</a>, and <a class="el" href="as5601_8h_source.html#l00059">get_pos()</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a865a4971a787bbdb9ff64fd31e2eb348">&#9670;&nbsp;</a></span>init_zero()</h2>
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<td class="memname">void AS5601::init_zero </td>
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<p>Reset zero position set the offset to zero. </p>
<p class="definition">Definition at line <a class="el" href="as5601_8h_source.html#l00141">141</a> of file <a class="el" href="as5601_8h_source.html">as5601.h</a>.</p>
<p class="reference">References <a class="el" href="as5601_8h_source.html#l00157">_angle_offset</a>.</p>
<p class="reference">Referenced by <a class="el" href="dc__motor__controller_8ino_source.html#l00214">homing()</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#aeb9eb168d26d44261dc37d4ca54ae24f">&#9670;&nbsp;</a></span>set_gear_ratio()</h2>
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<td class="memname">void AS5601::set_gear_ratio </td>
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<p>Set the gear ratio between encoder and measure axis. </p>
<dl class="params"><dt>Parameters</dt><dd>
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<tr><td class="paramname">enc_ratio</td><td>An uitn8_t, that represents the gear ratio </td></tr>
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<p class="definition">Definition at line <a class="el" href="as5601_8h_source.html#l00152">152</a> of file <a class="el" href="as5601_8h_source.html">as5601.h</a>.</p>
<p class="reference">References <a class="el" href="as5601_8h_source.html#l00160">_enc_ratio</a>.</p>
<p class="reference">Referenced by <a class="el" href="dc__motor__controller_8ino_source.html#l00071">setup()</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#af760a7dd400974baf9daebad22920bdb">&#9670;&nbsp;</a></span>set_zero()</h2>
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<p>Set zero by setting offset angle. </p>
<dl class="section return"><dt>Returns</dt><dd>The state of the <a class="el" href="classAS5601.html" title="Class that functions for interacting with AS5601 magnetic rotary position sensor. ...">AS5601</a>: Magnet is too strong Magnet is too weak Magnet was detect </dd></dl>
<p class="definition">Definition at line <a class="el" href="as5601_8h_source.html#l00129">129</a> of file <a class="el" href="as5601_8h_source.html">as5601.h</a>.</p>
<p class="reference">References <a class="el" href="as5601_8h_source.html#l00157">_angle_offset</a>, and <a class="el" href="as5601_8h_source.html#l00059">get_pos()</a>.</p>
<p class="reference">Referenced by <a class="el" href="dc__motor__controller_8ino_source.html#l00214">homing()</a>.</p>
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<h2 class="groupheader">Member Data Documentation</h2>
<a id="a9b2058241b8e88142e6376ac5a8abeb4"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a9b2058241b8e88142e6376ac5a8abeb4">&#9670;&nbsp;</a></span>_angle_offset</h2>
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<td class="memname">double AS5601::_angle_offset = 0</td>
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<p class="definition">Definition at line <a class="el" href="as5601_8h_source.html#l00157">157</a> of file <a class="el" href="as5601_8h_source.html">as5601.h</a>.</p>
<p class="reference">Referenced by <a class="el" href="as5601_8h_source.html#l00059">get_pos()</a>, <a class="el" href="as5601_8h_source.html#l00141">init_zero()</a>, and <a class="el" href="as5601_8h_source.html#l00129">set_zero()</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a6523b0a1e1d9451b1df96398e7212b90">&#9670;&nbsp;</a></span>_enc_ratio</h2>
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<td class="memname">uint8_t AS5601::_enc_ratio = 0</td>
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<p class="definition">Definition at line <a class="el" href="as5601_8h_source.html#l00160">160</a> of file <a class="el" href="as5601_8h_source.html">as5601.h</a>.</p>
<p class="reference">Referenced by <a class="el" href="as5601_8h_source.html#l00059">get_pos()</a>, and <a class="el" href="as5601_8h_source.html#l00152">set_gear_ratio()</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a6524caff1a797ace0b48dfcad375f37a">&#9670;&nbsp;</a></span>_n</h2>
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<td class="memname">int32_t AS5601::_n = 0</td>
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<p class="definition">Definition at line <a class="el" href="as5601_8h_source.html#l00158">158</a> of file <a class="el" href="as5601_8h_source.html">as5601.h</a>.</p>
<p class="reference">Referenced by <a class="el" href="as5601_8h_source.html#l00059">get_pos()</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a104f193f38617cb45e2af426f10971af">&#9670;&nbsp;</a></span>_raw_prev_pos</h2>
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<td class="memname">float AS5601::_raw_prev_pos = 0</td>
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<p class="definition">Definition at line <a class="el" href="as5601_8h_source.html#l00159">159</a> of file <a class="el" href="as5601_8h_source.html">as5601.h</a>.</p>
<p class="reference">Referenced by <a class="el" href="as5601_8h_source.html#l00059">get_pos()</a>.</p>
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<hr/>The documentation for this class was generated from the following file:<ul>
<li>libraries/<a class="el" href="as5601_8h_source.html">as5601.h</a></li>
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