JEncoderAS5600I2C Class Reference

reads a type of absolute encoder https://ams.com/en/as5600 (uses I2C) More...

#include <JEncoderAS5600I2C.h>

Inheritance diagram for JEncoderAS5600I2C:

Collaboration diagram for JEncoderAS5600I2C:

Public Member Functions
void	writeRegister8 (uint8_t reg, uint8_t value)
void	writeRegister12 (uint8_t reg, uint16_t value)
uint16_t	readRegister12 (uint8_t reg)
uint8_t	readRegister8 (uint8_t reg)
	JEncoderAS5600I2C (bool _reverse=false, float _distPerCountFactor=1.0, uint16_t _zeroAngle=0, unsigned long _velEnoughTime=0, unsigned long _velEnoughTicks=0, bool _recognizeOutOfRange=true)
	sets pins and settings for reading the encoder, remember to use Wire.begin()
uint8_t	getAutoGain ()
uint16_t	readAngle ()
	angle in raw units, but adjusted for custom zero
void	useCustomWire (TwoWire &_wire)
	Set what Wire (I2C) bus to use (for microcontrollers with more than one)
void	run ()
	communication is done over I2C and requires constant polling instead of being able to use interrupts
void	setEncoderZero (int _zeroAngle)
	A custom (repeatable) angle can be set for what the sensor calls zero relative to default zero.
void	setEncoderZero ()
	set current angle as zero
int	rawReading ()
bool	isMagnetInRange ()
	is the magnet in the optimal position Unlike other functions, this function does not rely on run()
long	intTurns ()
	how many full turns the encoder has made.
long	zeroCounter ()
	reset the counter of how far the encoder has turned
long	zeroCounter (bool _resetAngle)
	reset the counter of how far the encoder has turned
float	getVel ()
	calculates velocity in distance per second where distance was set by setdistPerCountFactor()
long	getCounter ()
	returns how far the encoder has turned from the zero position
float	getPos ()
	returns how far the encoder has turned from the zero position converted to distance
float	getDistPerCountFactor ()
	returns a conversion factor between encoder ticks and distance that can be set for the encoder
void	setDistPerCountFactor (float _factor)
bool	hasDirection ()
	can this encoder measure direction or just speed
bool	isVelNew ()
	could be useful for only recalculating a control loop if there's new velocity data
void	setVelEnoughTime (unsigned long _velEnoughTime)
void	setVelEnoughTicks (unsigned long _velEnoughTicks)
void	setRecognizeOutOfRange (bool _recognizeOutOfRange)
Public Member Functions inherited from JEncoder
virtual void	setRev (bool _rev)
	empty function for directionless encoders to override

Public Attributes
const byte	ZMCO_REG = 0x00
const byte	ZPOSMSB_REG = 0x01
const byte	MPOSMSB_REG = 0X03
const byte	MANG_REG = 0x05
const byte	CONF_REG = 0x07
const byte	RAWANGLEMSB_REG = 0x0C
const byte	ANGLEMSB_REG = 0x0E
const byte	STATUS_REG = 0x0B
const byte	AGC_REG = 0x1A
const byte	MAGNITUDE_REG = 0x1B
const byte	BURN_REG = 0xFF
const unsigned int	STEPS_PER_TURN = 4096

Static Public Attributes
static const byte	AS5048B_DEFAULT_ADDRESS = 0x36

Detailed Description

reads a type of absolute encoder https://ams.com/en/as5600 (uses I2C)

Note

remember to add pull up resistors on I2C lines (~4.7k for 5v, ~2.4k for 3.3v microcontrollers).

Constructor & Destructor Documentation

JEncoderAS5600I2C()

JEncoderAS5600I2C::JEncoderAS5600I2C ( bool  _reverse = false, float  _distPerCountFactor = 1.0, uint16_t  _zeroAngle = 0, unsigned long  _velEnoughTime = 0, unsigned long  _velEnoughTicks = 0, bool  _recognizeOutOfRange = true  )

inline

sets pins and settings for reading the encoder, remember to use Wire.begin()

Note

remember to use Wire.begin()

Parameters

_reverse	(bool) reverse positive direction, default=false
_distPerCountFactor	(float) for the purposes of setting this factor a "count" is considered a full revolution of the absolute encoder
_zeroAngle	(int) [0, STEPS_PER_TURN) custom zero angle for absolute encoder
_velEnoughTime	(default=0, no limit) shortest interval in microseconds between velocity calculations, if run() is called faster the calculation will wait to run
_velEnoughTicks	(default=0, no limit) if the encoder turns more than this number of steps velocity calculations will be done even if velEnoughTime hasn't been reached
_recognizeOutOfRange	(boolean, default=true) set velocity to zero and stop updating position if encoder reports that it's out of range

Member Function Documentation

getAutoGain()

uint8_t JEncoderAS5600I2C::getAutoGain ( )

inline

Note

bad if 255 (magnet too far) or 0 (magnet too close)

getCounter()

long JEncoderAS5600I2C::getCounter ( )

inlinevirtual

returns how far the encoder has turned from the zero position

Note

remember that variables overflow

Return values

(long)

encoder ticks

Reimplemented from JEncoder.

getDistPerCountFactor()

float JEncoderAS5600I2C::getDistPerCountFactor ( )

inlinevirtual

returns a conversion factor between encoder ticks and distance that can be set for the encoder

Note

default is 1.0

Return values

(float)

distPerCountFactor

Reimplemented from JEncoder.

getPos()

float JEncoderAS5600I2C::getPos ( )

inlinevirtual

returns how far the encoder has turned from the zero position converted to distance

Note

remember that variables overflow (counter) and that floats have limited precision

Return values

(float)

encoder ticks converted to distance

Reimplemented from JEncoder.

getVel()

float JEncoderAS5600I2C::getVel ( )

inlinevirtual

calculates velocity in distance per second where distance was set by setdistPerCountFactor()

Return values

(float)

velocity

Reimplemented from JEncoder.

hasDirection()

bool JEncoderAS5600I2C::hasDirection ( )

inlinevirtual

can this encoder measure direction or just speed

Return values

(bool)

true = can measure direction

Reimplemented from JEncoder.

intTurns()

long JEncoderAS5600I2C::intTurns ( )

inline

how many full turns the encoder has made.

Note

this and rawReading can be used as an alternative to getPos if the limited precision of a float is a concern

Return values

(long)

how far the encoder has turned

isMagnetInRange()

bool JEncoderAS5600I2C::isMagnetInRange ( )

inline

is the magnet in the optimal position Unlike other functions, this function does not rely on run()

Note

if this is false, the encoder may still be providing angle information

Return values

(bool)

isVelNew()

bool JEncoderAS5600I2C::isVelNew ( )

inlinevirtual

could be useful for only recalculating a control loop if there's new velocity data

Return values

(bool)

true if velocity has changed since this function was last called

Reimplemented from JEncoder.

rawReading()

int JEncoderAS5600I2C::rawReading ( )

inline

Note

divide by STEPS_PER_TURN to get fraction of full turn

Return values

the	raw angle reading from the sensor (0 to 4095)

readAngle()

uint16_t JEncoderAS5600I2C::readAngle ( )

inline

angle in raw units, but adjusted for custom zero

readRegister12()

uint16_t JEncoderAS5600I2C::readRegister12 ( uint8_t  reg )

inline

readRegister8()

uint8_t JEncoderAS5600I2C::readRegister8 ( uint8_t  reg )

inline

run()

void JEncoderAS5600I2C::run ( )

inlinevirtual

communication is done over I2C and requires constant polling instead of being able to use interrupts

Note

call this function as frequently as possible or this code can't keep track of how many times the encoder has turned

Reimplemented from JEncoder.

setDistPerCountFactor()

void JEncoderAS5600I2C::setDistPerCountFactor ( float  _factor )

inlinevirtual

Note

for the purposes of setting this factor a "count" is considered a full revolution of the absolute encoder it is converted to actual counts within this function

Reimplemented from JEncoder.

setEncoderZero() [1/2]

void JEncoderAS5600I2C::setEncoderZero ( )

inline

set current angle as zero

Return values

None

setEncoderZero() [2/2]

void JEncoderAS5600I2C::setEncoderZero ( int  _zeroAngle )

inline

A custom (repeatable) angle can be set for what the sensor calls zero relative to default zero.

Parameters

zeroAngle

(int) [0, STEPS_PER_TURN)

setRecognizeOutOfRange()

void JEncoderAS5600I2C::setRecognizeOutOfRange ( bool  _recognizeOutOfRange )

inline

Parameters

_recognizeOutOfRange

(boolean, default=true) set velocity to zero and stop updating position if encoder reports that it's out of range

setVelEnoughTicks()

void JEncoderAS5600I2C::setVelEnoughTicks ( unsigned long  _velEnoughTicks )

inline

setVelEnoughTime()

void JEncoderAS5600I2C::setVelEnoughTime ( unsigned long  _velEnoughTime )

inline

useCustomWire()

void JEncoderAS5600I2C::useCustomWire ( TwoWire &  _wire )

inline

Set what Wire (I2C) bus to use (for microcontrollers with more than one)

Parameters

_wire

(TwoWire)

writeRegister12()

void JEncoderAS5600I2C::writeRegister12 ( uint8_t  reg, uint16_t  value  )

inline

writeRegister8()

void JEncoderAS5600I2C::writeRegister8 ( uint8_t  reg, uint8_t  value  )

inline

zeroCounter() [1/2]

long JEncoderAS5600I2C::zeroCounter ( )

inlinevirtual

reset the counter of how far the encoder has turned

Return values

(long)

returns value of counter before it is reset

Reimplemented from JEncoder.

zeroCounter() [2/2]

long JEncoderAS5600I2C::zeroCounter ( bool  _resetAngle )

inline

reset the counter of how far the encoder has turned

Parameters

_resetAngle

(bool) default: true=zero absolute angle measurement and set current position to zero. false= zero out number of turns, but angle stays relative to absolute encoder's zero point

Return values

(long)

returns value of counter before it is reset

Member Data Documentation

AGC_REG

const byte JEncoderAS5600I2C::AGC_REG = 0x1A

ANGLEMSB_REG

const byte JEncoderAS5600I2C::ANGLEMSB_REG = 0x0E

AS5048B_DEFAULT_ADDRESS

const byte JEncoderAS5600I2C::AS5048B_DEFAULT_ADDRESS = 0x36

static

BURN_REG

const byte JEncoderAS5600I2C::BURN_REG = 0xFF

CONF_REG

const byte JEncoderAS5600I2C::CONF_REG = 0x07

MAGNITUDE_REG

const byte JEncoderAS5600I2C::MAGNITUDE_REG = 0x1B

MANG_REG

const byte JEncoderAS5600I2C::MANG_REG = 0x05

MPOSMSB_REG

const byte JEncoderAS5600I2C::MPOSMSB_REG = 0X03

RAWANGLEMSB_REG

const byte JEncoderAS5600I2C::RAWANGLEMSB_REG = 0x0C

STATUS_REG

const byte JEncoderAS5600I2C::STATUS_REG = 0x0B

STEPS_PER_TURN

const unsigned int JEncoderAS5600I2C::STEPS_PER_TURN = 4096

ZMCO_REG

const byte JEncoderAS5600I2C::ZMCO_REG = 0x00

ZPOSMSB_REG

const byte JEncoderAS5600I2C::ZPOSMSB_REG = 0x01

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The documentation for this class was generated from the following file:

• src/JEncoder/JEncoderAS5600I2C.h