simplefoc代码学习笔记3，编码器部分

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simpleFoc库支持绝对值编码器，霍尔编码器，磁编码器

一、 磁编码器 I2C

参数

     * MagneticSensorI2C类构造函数
     * @param chip_address  I2C芯片地址
     * @param bits 传感器分辨率的位数
     * @param angle_register_msb  angle read register msb
     * @param _bits_used_msb number of used bits in msb
     */
    MagneticSensorI2C(uint8_t _chip_address, int _bit_resolution, uint8_t _angle_register_msb, int _msb_bits_used);

应用

simplefoc已经将AS5600和AS5048的参数封装，若使用这俩芯片直接填参即可
MagneticSensorI2C sensor = MagneticSensorI2C(AS5600_I2C);//选填AS5600_I2C，AS5048_I2C

#include <SimpleFOC.h>
MagneticSensorI2C sensor0 = MagneticSensorI2C(AS5600_I2C);
MagneticSensorI2C sensor1 = MagneticSensorI2C(AS5600_I2C);
TwoWire I2Cone = TwoWire(0);
TwoWire I2Ctwo = TwoWire(1);

void setup() {
  Serial.begin(115200);
  _delay(750);
  //针对最新版本ESP-Arduino 2.0.2,采用下面两句
  I2Cone.begin(19,18, 400000UL);   //SDA0,SCL0
  I2Ctwo.begin(23,5, 400000UL);
  
  sensor0.init(&I2Cone);
  sensor1.init(&I2Ctwo);
}

void loop() {
  sensor0.update(); 
  sensor1.update();
  //_delay(200);
  Serial.print(sensor0.getAngle()); 
  Serial.print(" - "); 
  Serial.print(sensor1.getAngle());
  Serial.println();
}

别的没有到呢，用到更新。