AS5600.h

// Chiba Institute of Technology

#ifndef ASS5600_H
#define ASS5600_H

#include "mbed.h"
#include "AS5600.h"

/** Class to measure angle using an absolute encoder AS5600
 *
 * Exmaple
 * @code
 *
 * // Display Angle (Button 1: Reset Angle)
 * #include "mbed.h" 
 * #include "AS5600.h" 
 *
 * BusOut led(LED1, LED2, LED3, LED4);
 * BusIn sw(SW1, SW2);
 * AS5600 as5600(I2C_SDA, I2C_SCL);
 * 
 * int main() {
 * 	led = 0;
 * 	sw.mode(PullUp);
 * 	while(1) {
 *		float angle = as5600;
 *		printf("%f\r\n", angle);
 *		if (sw[0] == 0) as5600 = 0;
 *		wait(0.5);
 *	}
 *}
 */

class AS5600
{
public:
  AS5600(PinName i2c_sda, PinName i2c_scl);

  void updateAngle();

  float getAngleRad();

  float getAngleDeg();

  int getError();

void write(float value);

  float read();

  AS5600& operator= (double value) {
    write(value);
    return *this;
  }

	operator float(){
		return read();
	}

private:
  I2C i2c;
  float angle;
  float angle0;
	int error;
};

#endif