### Adafruit_AS5600 Initialization Example

Source: https://github.com/adafruit/adafruit_as5600/blob/main/_autodocs/api-reference/Adafruit_AS5600.md

Initializes the AS5600 sensor. This example shows how to begin the sensor with default settings and includes error handling for sensor detection.

```cpp
#include <Adafruit_AS5600.h>

Adafruit_AS5600 as5600;

void setup() {
  Serial.begin(115200);
  
  if (!as5600.begin()) {
    Serial.println("Could not find AS5600 sensor, check wiring!");
    while (1) delay(10);
  }
}
```

--------------------------------

### Complete Setup with All Options for Adafruit AS5600

Source: https://github.com/adafruit/adafruit_as5600/blob/main/_autodocs/MANIFEST.txt

Demonstrates a comprehensive setup of the AS5600 sensor, configuring various parameters like power mode, output, filter, hysteresis, and watchdog. Requires I2C initialization.

```python
import board

import adafruit_as5600


i2c = board.I2C()

as5600 = adafruit_as5600.AS5600(i2c)

as5600.power_mode = adafruit_as5600.PowerMode.NORMAL
as5600.output_mode = adafruit_as5600.OutputMode.ANALOG_FULL
as5600.low_speed_window = adafruit_as5600.LowSpeedWindow.X16
as5600.high_speed_window = adafruit_as5600.HighSpeedWindow.X8
as5600.hysteresis = adafruit_as5600.Hysteresis.LSB_2
as5600.watchdog = adafruit_as5600.Watchdog.ENABLED

while True:
    print(f"Raw: {as5600.value} Angle: {as5600.angle}")
```

--------------------------------

### Comprehensive AS5600 Error Handling Example

Source: https://github.com/adafruit/adafruit_as5600/blob/main/_autodocs/errors.md

This example provides a complete setup for the AS5600 sensor, including robust error checking for initialization, magnet detection, signal strength, and periodic diagnostics. It covers various error conditions and sensor states.

```cpp
#include <Adafruit_AS5600.h>

Adafruit_AS5600 as5600;
unsigned long lastDiagnostic = 0;

void setup() {
  Serial.begin(115200);
  
  // Initialize with error checking
  if (!as5600.begin()) {
    Serial.println("FATAL: AS5600 not found on I2C bus");
    while (1) delay(10);
  }
  
  Serial.println("AS5600 initialized");
  
  // Check EEPROM status
  uint8_t zmCount = as5600.getZMCount();
  if (zmCount >= 3) {
    Serial.println("WARNING: EEPROM writes exhausted");
  }
}

void loop() {
  // Check magnet status
  if (!as5600.isMagnetDetected()) {
    Serial.println("ERROR: Magnet not detected");
    delay(1000);
    return;
  }
  
  // Check signal levels
  uint8_t agc = as5600.getAGC();
  bool tooStrong = as5600.isAGCminGainOverflow();
  bool tooWeak = as5600.isAGCmaxGainOverflow();
  
  if (tooStrong) {
    Serial.println("WARNING: Magnet signal too strong");
  } else if (tooWeak) {
    Serial.println("WARNING: Magnet signal too weak");
  }
  
  // Read angle
  uint16_t angle = as5600.getAngle();
  Serial.print("Angle: ");
  Serial.print(angle);
  Serial.print(" | AGC: ");
  Serial.println(agc);
  
  // Periodic diagnostics
  if (millis() - lastDiagnostic > 5000) {
    runDiagnostics();
    lastDiagnostic = millis();
  }
  
  delay(50);
}

void runDiagnostics() {
  Serial.println("=== Diagnostics ===");
  
  uint8_t agc = as5600.getAGC();
  uint16_t magnitude = as5600.getMagnitude();
  uint8_t zmCount = as5600.getZMCount();
  
  Serial.print("AGC: ");
  Serial.println(agc);
  
  Serial.print("Magnitude: ");
  Serial.println(magnitude);
  
  Serial.print("EEPROM writes: ");
  Serial.print(zmCount);
  Serial.println(" / 3");
  
  Serial.print("Watchdog: ");
  Serial.println(as5600.getWatchdog() ? "Enabled" : "Disabled");
  
  Serial.print("Power Mode: ");
  switch (as5600.getPowerMode()) {
    case AS5600_POWER_MODE_NOM:
      Serial.println("Normal");
      break;
    case AS5600_POWER_MODE_LPM1:
      Serial.println("Low Power 1");
      break;
    case AS5600_POWER_MODE_LPM2:
      Serial.println("Low Power 2");
      break;
    case AS5600_POWER_MODE_LPM3:
      Serial.println("Low Power 3");
      break;
  }
  
  Serial.println("==================");
}
```

--------------------------------

### Initialize AS5600 Sensor

Source: https://github.com/adafruit/adafruit_as5600/blob/main/_autodocs/REFERENCE.md

Initialize the AS5600 sensor in the setup() function. This includes starting serial communication and checking if the sensor is detected. The program will halt if the sensor is not found.

```cpp
void setup() {
  Serial.begin(115200);
  
  if (!as5600.begin()) {
    Serial.println("AS5600 not found!");
    while (1) delay(10);
  }
  
  Serial.println("AS5600 ready");
}
```

--------------------------------

### Initialize I2C Communication

Source: https://github.com/adafruit/adafruit_as5600/blob/main/_autodocs/INDEX.md

Initializes the I2C communication for the AS5600 sensor. This should be called in the setup() function.

```cpp
#include <Adafruit_AS5600.h>

Adafruit_AS5600 as5600;

void setup() {
  as5600.begin();
}
```

--------------------------------

### Adafruit_AS5600 begin() Method

Source: https://github.com/adafruit/adafruit_as5600/blob/main/_autodocs/api-reference/Adafruit_AS5600.md

Initializes the sensor with the specified I2C address and Wire interface. Must be called before any other methods. This example demonstrates using the default I2C address and Wire interface, with a commented-out alternative for specifying custom parameters.

```cpp
Adafruit_AS5600 as5600;

void setup() {
  // Use default I2C address (0x36) and Wire interface
  if (!as5600.begin()) {
    Serial.println("Sensor initialization failed");
    while (1) delay(10);
  }
  
  // Or specify custom I2C address and Wire interface
  // if (!as5600.begin(0x36, &Wire1)) { ... }
}
```

--------------------------------

### Get Hysteresis

Source: https://github.com/adafruit/adafruit_as5600/blob/main/_autodocs/REFERENCE.md

Retrieve the current hysteresis setting of the AS5600 sensor.

```cpp
getHysteresis()
```

--------------------------------

### Get Output Stage

Source: https://github.com/adafruit/adafruit_as5600/blob/main/_autodocs/REFERENCE.md

Retrieve the current output stage configuration (analog/PWM) of the AS5600 sensor.

```cpp
getOutputStage()
```

--------------------------------

### Handle AS5600 I2C Initialization Errors

Source: https://github.com/adafruit/adafruit_as5600/blob/main/_autodocs/errors.md

Check if the AS5600 sensor can be initialized on the I2C bus. This example demonstrates how to handle a `false` return value from `as5600.begin()` by printing diagnostic messages and halting execution.

```cpp
Adafruit_AS5600 as5600;

void setup() {
  Serial.begin(115200);
  
  if (!as5600.begin()) {
    // Initialization failed
    Serial.println("Error: Could not find AS5600 sensor");
    Serial.println("Check:");
    Serial.println("  1. Sensor is powered");
    Serial.println("  2. I2C address is correct (default 0x36)");
    Serial.println("  3. SDA/SCL wiring is correct");
    Serial.println("  4. No I2C bus conflicts");
    
    // Halt execution
    while (1) delay(10);
  }
  
  Serial.println("AS5600 initialized successfully");
}
```

--------------------------------

### Basic AS5600 Sensor Reading

Source: https://github.com/adafruit/adafruit_as5600/blob/main/_autodocs/README.md

This example demonstrates how to initialize the AS5600 sensor over I2C and read its angle in a loop. It includes basic error checking for sensor detection and checks if a magnet is present before reading the angle.

```cpp
#include <Adafruit_AS5600.h>

Adafruit_AS5600 as5600;

void setup() {
  Serial.begin(115200);
  if (!as5600.begin()) {
    Serial.println("Sensor not found!");
    while (1) delay(10);
  }
}

void loop() {
  if (as5600.isMagnetDetected()) {
    uint16_t angle = as5600.getAngle();
    Serial.print("Angle: ");
    Serial.println(angle);  // 0-4095 maps to 0-360°
  }
  delay(50);
}
```

--------------------------------

### Get Watchdog Timer Status (C++)

Source: https://github.com/adafruit/adafruit_as5600/blob/main/_autodocs/api-reference/Adafruit_AS5600.md

Retrieve the current status of the watchdog timer. Returns true if the watchdog is enabled, and false if it is disabled.

```cpp
bool getWatchdog();
```

```cpp
if (as5600.getWatchdog()) {
  Serial.println("Watchdog is enabled");
} else {
  Serial.println("Watchdog is disabled");
}
```

--------------------------------

### Get Watchdog Status

Source: https://github.com/adafruit/adafruit_as5600/blob/main/_autodocs/REFERENCE.md

Retrieve the current status of the watchdog timer for the AS5600 sensor.

```cpp
getWatchdog()
```

--------------------------------

### Get Fast Filter Threshold

Source: https://github.com/adafruit/adafruit_as5600/blob/main/_autodocs/REFERENCE.md

Retrieve the current threshold setting for the fast digital filter of the AS5600 sensor.

```cpp
getFastFilterThresh()
```

--------------------------------

### Complete AS5600 Sensor Setup

Source: https://github.com/adafruit/adafruit_as5600/blob/main/_autodocs/configuration.md

Initializes the AS5600 sensor with default I2C settings and configures various parameters including power mode, output stage, filters, and measurement range. Includes a loop to read angle, AGC, and magnitude if a magnet is detected.

```cpp
#include <Adafruit_AS5600.h>

Adafruit_AS5600 as5600;

void setup() {
  Serial.begin(115200);
  
  // Initialize sensor with default I2C address on default Wire bus
  if (!as5600.begin()) {
    Serial.println("Sensor not found!");
    while (1) delay(10);
  }
  
  // Configure power and protection
  as5600.setPowerMode(AS5600_POWER_MODE_NOM);      // Normal power mode
  as5600.enableWatchdog(false);                     // Disable watchdog
  
  // Configure output
  as5600.setOutputStage(AS5600_OUTPUT_STAGE_ANALOG_FULL);  // Full analog range
  
  // Configure filtering
  as5600.setSlowFilter(AS5600_SLOW_FILTER_16X);           // Maximum filtering
  as5600.setFastFilterThresh(AS5600_FAST_FILTER_THRESH_SLOW_ONLY);  // No fast filter
  as5600.setHysteresis(AS5600_HYSTERESIS_OFF);           // No hysteresis
  
  // Configure measurement range
  as5600.setZPosition(0);        // 0-degree reference
  as5600.setMPosition(4095);     // Full 12-bit range
  as5600.setMaxAngle(4095);      // 0-360 degree range
  
  Serial.println("AS5600 configured successfully");
}

void loop() {
  if (as5600.isMagnetDetected()) {
    uint16_t angle = as5600.getAngle();
    uint8_t agc = as5600.getAGC();
    uint16_t magnitude = as5600.getMagnitude();
    
    Serial.print("Angle: ");
    Serial.print(angle);
    Serial.print(" | AGC: ");
    Serial.print(agc);
    Serial.print(" | Mag: ");
    Serial.println(magnitude);
  }
  
  delay(50);
}

```

--------------------------------

### getOutputStage()

Source: https://github.com/adafruit/adafruit_as5600/blob/main/_autodocs/api-reference/Adafruit_AS5600.md

Gets the current output stage configuration of the AS5600 sensor. The output stage determines how the sensor's position data is presented.

```APIDOC
## getOutputStage()

### Description
Gets the current output stage configuration.

### Method
```cpp
as5600_output_stage_t getOutputStage();
```

### Return type
`as5600_output_stage_t` — current output stage setting

### Example
```cpp
as5600_output_stage_t stage = as5600.getOutputStage();

switch (stage) {
  case AS5600_OUTPUT_STAGE_ANALOG_FULL:
    Serial.println("Output: Analog Full (0-100%)");
    break;
  case AS5600_OUTPUT_STAGE_ANALOG_REDUCED:
    Serial.println("Output: Analog Reduced (10-90%)");
    break;
  case AS5600_OUTPUT_STAGE_DIGITAL_PWM:
    Serial.println("Output: Digital PWM");
    break;
  case AS5600_OUTPUT_STAGE_RESERVED:
    Serial.println("Output: Reserved");
    break;
}
```
```

--------------------------------

### Get AS5600 Hysteresis

Source: https://github.com/adafruit/adafruit_as5600/blob/main/_autodocs/api-reference/Adafruit_AS5600.md

Retrieves the current hysteresis setting of the sensor. The possible values are OFF, 1LSB, 2LSB, or 3LSB.

```cpp
as5600_hysteresis_t getHysteresis();
```

```cpp
as5600_hysteresis_t hyst = as5600.getHysteresis();

switch (hyst) {
  case AS5600_HYSTERESIS_OFF:
    Serial.println("Hysteresis: OFF");
    break;
  case AS5600_HYSTERESIS_1LSB:
    Serial.println("Hysteresis: 1 LSB");
    break;
  case AS5600_HYSTERESIS_2LSB:
    Serial.println("Hysteresis: 2 LSB");
    break;
  case AS5600_HYSTERESIS_3LSB:
    Serial.println("Hysteresis: 3 LSB");
    break;
}
```

--------------------------------

### Get Current Slow Filter Setting

Source: https://github.com/adafruit/adafruit_as5600/blob/main/_autodocs/api-reference/Adafruit_AS5600.md

Retrieves the current slow filter configuration. This is useful for checking the active filtering level.

```cpp
as5600_slow_filter_t filter = as5600.getSlowFilter();

switch (filter) {
  case AS5600_SLOW_FILTER_16X:
    Serial.println("Slow filter: 16x");
    break;
  case AS5600_SLOW_FILTER_8X:
    Serial.println("Slow filter: 8x");
    break;
  case AS5600_SLOW_FILTER_4X:
    Serial.println("Slow filter: 4x");
    break;
  case AS5600_SLOW_FILTER_2X:
    Serial.println("Slow filter: 2x");
    break;
}
```

--------------------------------

### Handle AS5600 Register Write Errors

Source: https://github.com/adafruit/adafruit_as5600/blob/main/_autodocs/errors.md

Safely write to AS5600 registers by checking the return value of methods like `setZPosition`. This example shows how to print warnings for write failures and implement a basic retry mechanism.

```cpp
// Safe write with error handling
if (!as5600.setZPosition(1024)) {
  Serial.println("Warning: Failed to set zero position");
  Serial.println("  Possible causes:");
  Serial.println("  - I2C bus communication error");
  Serial.println("  - Sensor not responding");
  Serial.println("  - EEPROM programming limit reached");
  
  // Retry logic
  delay(100);  // Wait before retry
  if (!as5600.setZPosition(1024)) {
    Serial.println("Error: Write failed after retry");
  }
}
```

```cpp
// Write with retry and fallback
bool writeWithRetry(uint16_t value, int maxRetries = 3) {
  for (int i = 0; i < maxRetries; i++) {
    if (as5600.setZPosition(value)) {
      return true;
    }
    delay(100);  // Wait between retries
  }
  return false;  // All retries failed
}
```

--------------------------------

### Get Slow Digital Filter Setting

Source: https://github.com/adafruit/adafruit_as5600/blob/main/_autodocs/REFERENCE.md

Retrieve the current setting for the slow digital filter of the AS5600 sensor.

```cpp
getSlowFilter()
```

--------------------------------

### Get Current Fast Filter Threshold

Source: https://github.com/adafruit/adafruit_as5600/blob/main/_autodocs/api-reference/Adafruit_AS5600.md

Retrieves the current fast filter threshold setting. This helps in understanding when the fast filter is active.

```cpp
as5600_fast_filter_thresh_t thresh = as5600.getFastFilterThresh();

switch (thresh) {
  case AS5600_FAST_FILTER_THRESH_SLOW_ONLY:
    Serial.println("Fast filter threshold: Slow only");
    break;
  case AS5600_FAST_FILTER_THRESH_6LSB:
    Serial.println("Fast filter threshold: 6 LSB");
    break;
  case AS5600_FAST_FILTER_THRESH_7LSB:
    Serial.println("Fast filter threshold: 7 LSB");
    break;
  // ... other cases
}
```

--------------------------------

### setZPosition()

Source: https://github.com/adafruit/adafruit_as5600/blob/main/_autodocs/api-reference/Adafruit_AS5600.md

Sets the zero position register to a new 12-bit value. This value defines the starting point for angle measurement. The function returns true if the write operation was successful, and false otherwise.

```APIDOC
## setZPosition()

### Description
Sets the zero position (start position) to a new 12-bit value. This value defines the starting point for angle measurement.

### Method
```cpp
bool setZPosition(uint16_t position);
```

### Parameters
#### Path Parameters
- **position** (uint16_t) - Required - Zero position value (0-4095)

### Return Type
`bool` - true if write was successful, false otherwise

### Example
```cpp
// Set zero position to 512 (midrange)
if (as5600.setZPosition(512)) {
  Serial.println("Zero position updated successfully");
} else {
  Serial.println("Failed to set zero position");
}
```
```

--------------------------------

### Get AS5600 Output Stage

Source: https://github.com/adafruit/adafruit_as5600/blob/main/_autodocs/api-reference/Adafruit_AS5600.md

Retrieves the current output stage configuration of the AS5600 sensor. The output stage determines how the sensor's position data is presented.

```cpp
as5600_output_stage_t stage = as5600.getOutputStage();

switch (stage) {
  case AS5600_OUTPUT_STAGE_ANALOG_FULL:
    Serial.println("Output: Analog Full (0-100%)");
    break;
  case AS5600_OUTPUT_STAGE_ANALOG_REDUCED:
    Serial.println("Output: Analog Reduced (10-90%)");
    break;
  case AS5600_OUTPUT_STAGE_DIGITAL_PWM:
    Serial.println("Output: Digital PWM");
    break;
  case AS5600_OUTPUT_STAGE_RESERVED:
    Serial.println("Output: Reserved");
    break;
}
```

--------------------------------

### begin()

Source: https://github.com/adafruit/adafruit_as5600/blob/main/_autodocs/api-reference/Adafruit_AS5600.md

Initializes the sensor with the specified I2C address and Wire interface. Must be called before any other methods.

```APIDOC
## begin()

### Description
Initializes the sensor with the specified I2C address and Wire interface. Must be called before any other methods.

### Method
`bool begin(uint8_t i2c_addr = AS5600_DEFAULT_ADDR, TwoWire* wire = &Wire);`

### Parameters
#### Query Parameters
- **i2c_addr** (uint8_t) - Optional - Default: AS5600_DEFAULT_ADDR (0x36) - I2C address of the sensor
- **wire** (TwoWire*) - Optional - Default: &Wire - Pointer to the I2C bus object

### Return type
`bool` — true if initialization successful, false if sensor not found

### Example
```cpp
Adafruit_AS5600 as5600;

void setup() {
  // Use default I2C address (0x36) and Wire interface
  if (!as5600.begin()) {
    Serial.println("Sensor initialization failed");
    while (1) delay(10);
  }
  
  // Or specify custom I2C address and Wire interface
  // if (!as5600.begin(0x36, &Wire1)) { ... }
}
```
```

--------------------------------

### Include Header and Create Instance

Source: https://github.com/adafruit/adafruit_as5600/blob/main/_autodocs/REFERENCE.md

Include the Adafruit AS5600 library header and create an instance of the sensor class. This is the first step in using the sensor.

```cpp
#include <Adafruit_AS5600.h>

Adafruit_AS5600 as5600;
```

--------------------------------

### getPWMFreq()

Source: https://github.com/adafruit/adafruit_as5600/blob/main/_autodocs/api-reference/Adafruit_AS5600.md

Gets the current PWM frequency setting of the AS5600 sensor.

```APIDOC
## getPWMFreq()

### Description
Gets the current PWM frequency setting.

### Method
```cpp
as5600_pwm_freq_t getPWMFreq();
```

### Return type
`as5600_pwm_freq_t` — current PWM frequency setting

### Example
```cpp
as5600_pwm_freq_t freq = as5600.getPWMFreq();

switch (freq) {
  case AS5600_PWM_FREQ_115HZ:
    Serial.println("PWM Frequency: 115 Hz");
    break;
  case AS5600_PWM_FREQ_230HZ:
    Serial.println("PWM Frequency: 230 Hz");
    break;
  case AS5600_PWM_FREQ_460HZ:
    Serial.println("PWM Frequency: 460 Hz");
    break;
  case AS5600_PWM_FREQ_920HZ:
    Serial.println("PWM Frequency: 920 Hz");
    break;
}
```
```

--------------------------------

### Initialization Methods

Source: https://github.com/adafruit/adafruit_as5600/blob/main/_autodocs/README.md

Methods for initializing the sensor and the library.

```APIDOC
## Initialization

### `Adafruit_AS5600()`

#### Description
Constructor for the Adafruit_AS5600 library.

### `begin()`

#### Description
Initializes the I2C communication with the AS5600 sensor. Returns `true` on success, `false` otherwise.
```

--------------------------------

### Get Power Mode

Source: https://github.com/adafruit/adafruit_as5600/blob/main/_autodocs/REFERENCE.md

Retrieve the current power mode setting of the AS5600 sensor.

```cpp
getPowerMode()
```

--------------------------------

### Initialization & Lifecycle

Source: https://github.com/adafruit/adafruit_as5600/blob/main/_autodocs/REFERENCE.md

Functions for initializing and managing the sensor instance.

```APIDOC
## Adafruit_AS5600()

### Description
Constructor for the Adafruit_AS5600 class.

### Method
Constructor

### Parameters
None
```

```APIDOC
## ~Adafruit_AS5600()

### Description
Destructor for the Adafruit_AS5600 class.

### Method
Destructor

### Parameters
None
```

```APIDOC
## bool begin(uint8_t i2c_addr, TwoWire* wire)

### Description
Initializes the AS5600 sensor with the specified I2C address and I2C bus.

### Method
`bool begin(uint8_t i2c_addr, TwoWire* wire)`

### Parameters
#### Path Parameters
- **i2c_addr** (uint8_t) - Required - The I2C address of the sensor.
- **wire** (TwoWire*) - Required - Pointer to the TwoWire object for I2C communication.
```

--------------------------------

### Get PWM Frequency

Source: https://github.com/adafruit/adafruit_as5600/blob/main/_autodocs/REFERENCE.md

Retrieve the current PWM output frequency setting of the AS5600 sensor.

```cpp
getPWMFreq()
```

--------------------------------

### File Structure Overview

Source: https://github.com/adafruit/adafruit_as5600/blob/main/_autodocs/INDEX.md

This code block displays the directory structure for the Adafruit AS5600 Arduino library documentation.

```bash
output/
├── INDEX.md                         (this file)
├── REFERENCE.md                     (quick reference & navigation)
├── types.md                         (type definitions)
├── configuration.md                 (configuration guide)
├── errors.md                        (error handling)
└── api-reference/
    └── Adafruit_AS5600.md          (complete class API)
```

--------------------------------

### getWatchdog

Source: https://github.com/adafruit/adafruit_as5600/blob/main/_autodocs/api-reference/Adafruit_AS5600.md

Gets the current watchdog timer status. Use this function to check if the watchdog is currently active.

```APIDOC
## getWatchdog()

### Description
Gets the current watchdog timer status.

### Method
```cpp
bool getWatchdog();
```

### Parameters
#### Path Parameters
(none)

### Request Example
```cpp
if (as5600.getWatchdog()) {
  Serial.println("Watchdog is enabled");
} else {
  Serial.println("Watchdog is disabled");
}
```

### Response
#### Success Response (bool)
- **return value** (bool) - true if watchdog is enabled, false if disabled
```

--------------------------------

### Output Configuration Methods

Source: https://github.com/adafruit/adafruit_as5600/blob/main/_autodocs/README.md

Methods for configuring the sensor's output stage and PWM frequency.

```APIDOC
## Output Configuration

### `setOutputStage(stage)`

#### Description
Sets the output stage configuration.

### `getOutputStage()`

#### Description
Gets the current output stage configuration.

### `setPWMFreq(freq)`

#### Description
Sets the PWM frequency.

### `getPWMFreq()`

#### Description
Gets the current PWM frequency.
```

--------------------------------

### getAGC()

Source: https://github.com/adafruit/adafruit_as5600/blob/main/_autodocs/api-reference/Adafruit_AS5600.md

Gets the current AGC (Automatic Gain Control) register value, which indicates the signal amplification level.

```APIDOC
## getAGC()

### Description
Gets the current AGC (Automatic Gain Control) register value, which indicates the signal amplification level.

### Method
```cpp
uint8_t getAGC();
```

### Parameters
(none)

### Return type
`uint8_t` — AGC value (0-255 in 5V mode, 0-128 in 3.3V mode)

### Example
```cpp
uint8_t agcValue = as5600.getAGC();
Serial.print("AGC value: ");
Serial.println(agcValue);

// Lower values indicate stronger signal, higher values indicate weaker signal
if (agcValue < 64) {
  Serial.println("Signal strength: Strong");
} else if (agcValue < 128) {
  Serial.println("Signal strength: Moderate");
} else {
  Serial.println("Signal strength: Weak");
}
```
```

--------------------------------

### Initialization

Source: https://github.com/adafruit/adafruit_as5600/blob/main/_autodocs/INDEX.md

Initializes the I2C communication with the AS5600 sensor.

```APIDOC
## begin()

### Description
Initializes I2C communication with the AS5600 sensor.

### Method
`begin()`

### Parameters
None

### Return Value
`bool` - true on success, false on I2C error.
```

--------------------------------

### Adafruit_AS5600 Constructor

Source: https://github.com/adafruit/adafruit_as5600/blob/main/_autodocs/api-reference/Adafruit_AS5600.md

Creates a new instance of the Adafruit_AS5600 sensor object. The sensor must be initialized with `begin()` before use.

```APIDOC
## Adafruit_AS5600()

### Description
Creates a new instance of the Adafruit_AS5600 sensor object. The sensor must be initialized with `begin()` before use.

### Parameters
None

### Return type
`Adafruit_AS5600` (object instance)

### Example
```cpp
#include <Adafruit_AS5600.h>

Adafruit_AS5600 as5600;

void setup() {
  Serial.begin(115200);
  
  if (!as5600.begin()) {
    Serial.println("Could not find AS5600 sensor, check wiring!");
    while (1) delay(10);
  }
}
```
```

--------------------------------

### Adafruit_AS5600 Constructor

Source: https://github.com/adafruit/adafruit_as5600/blob/main/_autodocs/api-reference/Adafruit_AS5600.md

Creates a new instance of the Adafruit_AS5600 sensor object. The sensor must be initialized with begin() before use.

```cpp
Adafruit_AS5600();
```

--------------------------------

### Get Maximum Position

Source: https://github.com/adafruit/adafruit_as5600/blob/main/_autodocs/REFERENCE.md

Retrieve the current maximum position setting of the AS5600 sensor. This value is stored in the sensor's EEPROM.

```cpp
getMPosition()
```

--------------------------------

### Output Configuration

Source: https://github.com/adafruit/adafruit_as5600/blob/main/_autodocs/INDEX.md

Methods for configuring the sensor's output stage and PWM frequency.

```APIDOC
## setOutputStage(uint8_t stage)

### Description
Sets the output stage of the sensor (e.g., analog or PWM).

### Method
`setOutputStage(uint8_t stage)`

### Parameters
* **stage** (uint8_t) - The desired output stage.

### Return Value
`bool` - true on success, false on I2C error.
```

```APIDOC
## getOutputStage()

### Description
Gets the current output stage configuration.

### Method
`getOutputStage()`

### Return Value
`uint8_t` - The current output stage.
```

```APIDOC
## setPWMFreq(uint8_t freq)

### Description
Sets the PWM frequency for the output.

### Method
`setPWMFreq(uint8_t freq)`

### Parameters
* **freq** (uint8_t) - The desired PWM frequency.

### Return Value
`bool` - true on success, false on I2C error.
```

```APIDOC
## getPWMFreq()

### Description
Gets the current PWM frequency setting.

### Method
`getPWMFreq()`

### Return Value
`uint8_t` - The current PWM frequency.
```

--------------------------------

### Get Zero Position

Source: https://github.com/adafruit/adafruit_as5600/blob/main/_autodocs/REFERENCE.md

Retrieve the current zero position setting of the AS5600 sensor. This value is stored in the sensor's EEPROM.

```cpp
getZPosition()
```

--------------------------------

### Position Configuration Methods

Source: https://github.com/adafruit/adafruit_as5600/blob/main/_autodocs/README.md

Methods for configuring the zero (Z) and maximum (M) position points of the sensor.

```APIDOC
## Position Configuration

### `getZMCount()`

#### Description
Retrieves the count of zero and maximum position settings.

### `getZPosition()`

#### Description
Gets the configured zero position.

### `setZPosition(position)`

#### Description
Sets the zero position.

### `getMPosition()`

#### Description
Gets the configured maximum position.

### `setMPosition(position)`

#### Description
Sets the maximum position.
```

--------------------------------

### Configure PWM Output with Adafruit AS5600

Source: https://github.com/adafruit/adafruit_as5600/blob/main/_autodocs/MANIFEST.txt

Configures the AS5600 to output the angle via PWM. Requires I2C initialization and setting the output mode. The PWM frequency can also be adjusted.

```python
import board

import adafruit_as5600


i2c = board.I2C()

as5600 = adafruit_as5600.AS5600(i2c)

as5600.output_mode = adafruit_as5600.OutputMode.PWM
as5600.pwm_frequency = adafruit_as5600.PWMFrequency.FREQ_115HZ

while True:
    # PWM output is handled by the hardware
    # You can still read the angle value if needed
    print(f"Angle: {as5600.angle}")
```

--------------------------------

### Initialize AS5600 with Custom I2C Address and Bus

Source: https://github.com/adafruit/adafruit_as5600/blob/main/_autodocs/configuration.md

Configure the AS5600 sensor by specifying its I2C address and the Wire interface. This is useful when using multiple I2C devices or alternate I2C buses.

```cpp
bool begin(uint8_t i2c_addr = AS5600_DEFAULT_ADDR, TwoWire* wire = &Wire);

// Example:
Adafruit_AS5600 as5600;

// Default I2C address (0x36) on Wire bus
as5600.begin();

// Custom I2C address on default Wire bus
// as5600.begin(0x36);

// Custom I2C address on alternate Wire bus
// as5600.begin(0x36, &Wire1);
```

--------------------------------

### Output Configuration

Source: https://github.com/adafruit/adafruit_as5600/blob/main/_autodocs/REFERENCE.md

Functions for configuring the sensor's analog and PWM output stages.

```APIDOC
## void setOutputStage(uint8_t stage)

### Description
Sets the output stage of the sensor (e.g., Analog or PWM).

### Method
`void setOutputStage(uint8_t stage)`

### Parameters
#### Path Parameters
- **stage** (uint8_t) - Required - The desired output stage. Refer to the AS5600 datasheet for valid values.
```

```APIDOC
## uint8_t getOutputStage()

### Description
Gets the current output stage configuration of the sensor.

### Method
`uint8_t getOutputStage()`

### Parameters
None

### Response
#### Success Response (uint8_t)
- **stage** (uint8_t) - The current output stage.
```

```APIDOC
## void setPWMFreq(uint8_t freq)

### Description
Sets the PWM frequency for the PWM output stage.

### Method
`void setPWMFreq(uint8_t freq)`

### Parameters
#### Path Parameters
- **freq** (uint8_t) - Required - The desired PWM frequency. Refer to the AS5600 datasheet for valid values.
```

```APIDOC
## uint8_t getPWMFreq()

### Description
Gets the current PWM frequency setting for the PWM output stage.

### Method
`uint8_t getPWMFreq()`

### Parameters
None

### Response
#### Success Response (uint8_t)
- **freq** (uint8_t) - The current PWM frequency.
```

--------------------------------

### Get AS5600 PWM Frequency

Source: https://github.com/adafruit/adafruit_as5600/blob/main/_autodocs/api-reference/Adafruit_AS5600.md

Retrieves the current PWM frequency setting of the AS5600 sensor. This is useful for verifying the configured PWM frequency.

```cpp
as5600_pwm_freq_t freq = as5600.getPWMFreq();

switch (freq) {
  case AS5600_PWM_FREQ_115HZ:
    Serial.println("PWM Frequency: 115 Hz");
    break;
  case AS5600_PWM_FREQ_230HZ:
    Serial.println("PWM Frequency: 230 Hz");
    break;
  case AS5600_PWM_FREQ_460HZ:
    Serial.println("PWM Frequency: 460 Hz");
    break;
  case AS5600_PWM_FREQ_920HZ:
    Serial.println("PWM Frequency: 920 Hz");
    break;
}
```

--------------------------------

### Configure for Stability with Filtering

Source: https://github.com/adafruit/adafruit_as5600/blob/main/_autodocs/REFERENCE.md

Applies maximum filtering and hysteresis to improve output stability and reduce jitter. Disables the fast filter to rely solely on the slow filter.

```cpp
void setup() {
  as5600.begin();
  
  // Maximum filtering for stability
  as5600.setSlowFilter(AS5600_SLOW_FILTER_16X);
  
  // Disable fast filter (only slow filter)
  as5600.setFastFilterThresh(AS5600_FAST_FILTER_THRESH_SLOW_ONLY);
  
  // Add hysteresis to reduce jitter
  as5600.setHysteresis(AS5600_HYSTERESIS_3LSB);
}
```

--------------------------------

### getPowerMode()

Source: https://github.com/adafruit/adafruit_as5600/blob/main/_autodocs/api-reference/Adafruit_AS5600.md

Gets the current power mode setting of the sensor. This function returns the active power mode, which can be one of the defined enumeration values.

```APIDOC
## getPowerMode()

### Description
Gets the current power mode setting.

### Method
```cpp
as5600_power_mode_t getPowerMode()
```

### Parameters
#### Path Parameters
None

#### Query Parameters
None

#### Request Body
None

### Return type
`as5600_power_mode_t` — current power mode (NOM, LPM1, LPM2, or LPM3)

### Example
```cpp
as5600_power_mode_t currentMode = as5600.getPowerMode();

switch (currentMode) {
  case AS5600_POWER_MODE_NOM:
    Serial.println("Mode: Normal");
    break;
  case AS5600_POWER_MODE_LPM1:
    Serial.println("Mode: Low Power Mode 1");
    break;
  case AS5600_POWER_MODE_LPM2:
    Serial.println("Mode: Low Power Mode 2");
    break;
  case AS5600_POWER_MODE_LPM3:
    Serial.println("Mode: Low Power Mode 3");
    break;
}
```
```

--------------------------------

### Initialize AS5600 with Custom I2C Address and Wire Object

Source: https://github.com/adafruit/adafruit_as5600/blob/main/_autodocs/REFERENCE.md

Initialize the AS5600 sensor using a custom I2C address and a specific TwoWire object. This is useful when using multiple I2C devices or a non-default I2C bus.

```cpp
bool begin(uint8_t i2c_addr, TwoWire* wire)
```

--------------------------------

### Get AS5600 Power Mode

Source: https://github.com/adafruit/adafruit_as5600/blob/main/_autodocs/api-reference/Adafruit_AS5600.md

Retrieves the current power mode setting of the sensor. The mode can be one of NOM, LPM1, LPM2, or LPM3.

```cpp
as5600_power_mode_t getPowerMode();
```

```cpp
as5600_power_mode_t currentMode = as5600.getPowerMode();

switch (currentMode) {
  case AS5600_POWER_MODE_NOM:
    Serial.println("Mode: Normal");
    break;
  case AS5600_POWER_MODE_LPM1:
    Serial.println("Mode: Low Power Mode 1");
    break;
  case AS5600_POWER_MODE_LPM2:
    Serial.println("Mode: Low Power Mode 2");
    break;
  case AS5600_POWER_MODE_LPM3:
    Serial.println("Mode: Low Power Mode 3");
    break;
}
```

--------------------------------

### Configure Hysteresis

Source: https://github.com/adafruit/adafruit_as5600/blob/main/_autodocs/configuration.md

Use setHysteresis to reduce output jitter by introducing a dead-band. Choose from Off, 1 LSB, 2 LSB, or 3 LSB settings.

```cpp
bool setHysteresis(as5600_hysteresis_t hysteresis);
as5600_hysteresis_t getHysteresis();
```

```cpp
// Disable hysteresis for maximum responsiveness
as5600.setHysteresis(AS5600_HYSTERESIS_OFF);

// Or enable hysteresis to reduce jitter
// as5600.setHysteresis(AS5600_HYSTERESIS_3LSB);  // Maximum stability

// Check current setting
as5600_hysteresis_t hyst = as5600.getHysteresis();
```

--------------------------------

### Get Signal Magnitude

Source: https://github.com/adafruit/adafruit_as5600/blob/main/_autodocs/REFERENCE.md

Read the signal quality magnitude from the AS5600 sensor. This value can help assess the strength and quality of the magnetic field.

```cpp
getMagnitude()
```

--------------------------------

### Optimize Stability with Adafruit AS5600

Source: https://github.com/adafruit/adafruit_as5600/blob/main/_autodocs/MANIFEST.txt

Applies settings to optimize the stability of the AS5600 readings, such as adjusting the slow filter and hysteresis. Requires I2C initialization.

```python
import board

import adafruit_as5600


i2c = board.I2C()

as5600 = adafruit_as5600.AS5600(i2c)

as5600.slow_filter = adafruit_as5600.SlowFilter.X16
as5600.hysteresis = adafruit_as5600.Hysteresis.OFF

while True:
    print(f"Raw: {as5600.value} Angle: {as5600.angle}")
```

--------------------------------

### Get Raw Angle Value

Source: https://github.com/adafruit/adafruit_as5600/blob/main/_autodocs/REFERENCE.md

Read the raw 12-bit angle value directly from the AS5600 sensor. This provides the unprocessed data from the sensor.

```cpp
getRawAngle()
```

--------------------------------

### Get Scaled Angle Value

Source: https://github.com/adafruit/adafruit_as5600/blob/main/_autodocs/REFERENCE.md

Read the scaled angle value from the AS5600 sensor, typically representing 0-360 degrees. This is the processed angle data.

```cpp
getAngle()
```

--------------------------------

### Enable Watchdog Timer

Source: https://github.com/adafruit/adafruit_as5600/blob/main/_autodocs/REFERENCE.md

Enable the watchdog timer for the AS5600 sensor. The watchdog can help recover from unexpected states.

```cpp
enableWatchdog()
```

--------------------------------

### Get Maximum Angle Range

Source: https://github.com/adafruit/adafruit_as5600/blob/main/_autodocs/REFERENCE.md

Retrieve the current maximum angle range setting of the AS5600 sensor. This value is stored in the sensor's EEPROM.

```cpp
getMaxAngle()
```

--------------------------------

### Configure Reduced Angular Range

Source: https://github.com/adafruit/adafruit_as5600/blob/main/_autodocs/REFERENCE.md

Sets the sensor to read a reduced angular range (e.g., 0-180 degrees) by defining the start and end positions.

```cpp
void setup() {
  as5600.begin();
  
  // Set range to 0-180 degrees (half range)
  as5600.setZPosition(0);      // Start at 0
  as5600.setMPosition(2047);   // End at 180°
  as5600.setMaxAngle(2047);    // Max output is 2047
}
```

--------------------------------

### getHysteresis()

Source: https://github.com/adafruit/adafruit_as5600/blob/main/_autodocs/api-reference/Adafruit_AS5600.md

Gets the current hysteresis setting of the sensor. This function returns the configured hysteresis level, which can be used to understand the sensor's noise reduction behavior.

```APIDOC
## getHysteresis()

### Description
Gets the current hysteresis setting.

### Method
```cpp
as5600_hysteresis_t getHysteresis()
```

### Parameters
#### Path Parameters
None

#### Query Parameters
None

#### Request Body
None

### Return type
`as5600_hysteresis_t` — current hysteresis setting

### Example
```cpp
as5600_hysteresis_t hyst = as5600.getHysteresis();

switch (hyst) {
  case AS5600_HYSTERESIS_OFF:
    Serial.println("Hysteresis: OFF");
    break;
  case AS5600_HYSTERESIS_1LSB:
    Serial.println("Hysteresis: 1 LSB");
    break;
  case AS5600_HYSTERESIS_2LSB:
    Serial.println("Hysteresis: 2 LSB");
    break;
  case AS5600_HYSTERESIS_3LSB:
    Serial.println("Hysteresis: 3 LSB");
    break;
}
```
```

--------------------------------

### Set AS5600 Output Stage

Source: https://github.com/adafruit/adafruit_as5600/blob/main/_autodocs/api-reference/Adafruit_AS5600.md

Configures the sensor's output stage to be either analog or PWM. Returns true if the configuration was successful.

```cpp
bool setOutputStage(as5600_output_stage_t output);
```

```cpp
// Use analog output (full range: 0% to 100% of VDD)
if (as5600.setOutputStage(AS5600_OUTPUT_STAGE_ANALOG_FULL)) {
  Serial.println("Output: Analog Full (0-100%)");
} else {
  Serial.println("Failed to set output stage");
}

// Or use PWM output
// as5600.setOutputStage(AS5600_OUTPUT_STAGE_DIGITAL_PWM);
// as5600.setPWMFreq(AS5600_PWM_FREQ_920HZ);
```

--------------------------------

### Get AGC Value

Source: https://github.com/adafruit/adafruit_as5600/blob/main/_autodocs/REFERENCE.md

Retrieve the current Automatic Gain Control (AGC) value from the AS5600 sensor. This value reflects the sensor's gain setting.

```cpp
getAGC()
```

--------------------------------

### Run Diagnostics Routine with Adafruit AS5600

Source: https://github.com/adafruit/adafruit_as5600/blob/main/_autodocs/MANIFEST.txt

Executes a diagnostics routine to check the status of the AS5600 sensor, including AGC gain and other internal states. Requires I2C initialization.

```python
import board

import adafruit_as5600


i2c = board.I2C()

as5600 = adafruit_as5600.AS5600(i2c)

print(f"AGC Minimum Gain Overflow: {as5600.agc_min_overflow}")
print(f"AGC Maximum Gain Overflow: {as5600.agc_max_overflow}")
print(f"Magnet too weak: {as5600.magnet_too_weak}")
print(f"Magnet too strong: {as5600.magnet_too_strong}")
```

--------------------------------

### Get Maximum Angle - Adafruit AS5600

Source: https://github.com/adafruit/adafruit_as5600/blob/main/_autodocs/api-reference/Adafruit_AS5600.md

Reads the current maximum angle setting, which defines the full-scale range for scaled angle readings. The default value is 4095.

```cpp
uint16_t maxAngle = as5600.getMaxAngle();
Serial.print("Maximum angle: ");
Serial.println(maxAngle);  // Default: 4095 (360 degrees)
```

--------------------------------

### AS5600 Power Mode Enumeration

Source: https://github.com/adafruit/adafruit_as5600/blob/main/_autodocs/types.md

Defines the available power modes for the AS5600 sensor. Use this to set or get the sensor's power consumption and sampling rate.

```cpp
typedef enum {
  AS5600_POWER_MODE_NOM = 0x00,   ///< Normal mode (default)
  AS5600_POWER_MODE_LPM1 = 0x01,  ///< Low power mode 1
  AS5600_POWER_MODE_LPM2 = 0x02,  ///< Low power mode 2
  AS5600_POWER_MODE_LPM3 = 0x03   ///< Low power mode 3
} as5600_power_mode_t;
```

--------------------------------

### Set AS5600 Hysteresis

Source: https://github.com/adafruit/adafruit_as5600/blob/main/_autodocs/api-reference/Adafruit_AS5600.md

Configures the hysteresis value for the output stage to minimize jitter. Options include OFF, 1LSB, 2LSB, and 3LSB. Returns true on success.

```cpp
bool setHysteresis(as5600_hysteresis_t hysteresis);
```

```cpp
// Disable hysteresis for maximum responsiveness
if (as5600.setHysteresis(AS5600_HYSTERESIS_OFF)) {
  Serial.println("Hysteresis: OFF");
} else {
  Serial.println("Failed to set hysteresis");
}

// Or enable hysteresis to reduce noise
// as5600.setHysteresis(AS5600_HYSTERESIS_3LSB);  // Maximum hysteresis
```

--------------------------------

### Get Raw Angle Reading - Adafruit AS5600

Source: https://github.com/adafruit/adafruit_as5600/blob/main/_autodocs/api-reference/Adafruit_AS5600.md

Retrieves the unprocessed angle value directly from the sensor. Use this for debugging or custom scaling. The value ranges from 0 to 4095.

```cpp
uint16_t rawAngle = as5600.getRawAngle();
Serial.print("Raw angle: ");
Serial.println(rawAngle);  // 0-4095 maps to 0-360 degrees

// Convert to degrees
float degrees = (rawAngle / 4095.0) * 360.0;
Serial.print("Degrees: ");
Serial.println(degrees);
```

--------------------------------

### Monitoring Signal Quality in a Loop

Source: https://github.com/adafruit/adafruit_as5600/blob/main/_autodocs/errors.md

This snippet continuously monitors the signal magnitude in the main loop. It prints a warning if the signal quality is poor and also displays the current angle reading.

```cpp
void loop() {
  uint16_t magnitude = as5600.getMagnitude();
  
  if (magnitude < 1000) {
    Serial.println("Warning: Low signal quality");
    Serial.print("Magnitude: ");
    Serial.println(magnitude);
  }
  
  uint16_t angle = as5600.getAngle();
  Serial.print("Angle: ");
  Serial.println(angle);
}
```

--------------------------------

### Get Signal Magnitude for Quality Assessment

Source: https://github.com/adafruit/adafruit_as5600/blob/main/_autodocs/api-reference/Adafruit_AS5600.md

Obtain the magnitude value, which represents the signal quality. Higher magnitude values indicate better signal quality, useful for diagnosing positioning accuracy.

```cpp
uint16_t magnitude = as5600.getMagnitude();
Serial.print("Signal magnitude: ");
Serial.println(magnitude);

// Higher magnitude indicates better signal quality
if (magnitude > 2000) {
  Serial.println("Excellent signal quality");
} else if (magnitude > 1000) {
  Serial.println("Good signal quality");
} else {
  Serial.println("Poor signal quality - check magnet position");
}
```

--------------------------------

### Configure Slow Filter

Source: https://github.com/adafruit/adafruit_as5600/blob/main/_autodocs/configuration.md

Use setSlowFilter for continuous digital filtering to reduce noise. Options range from 16x (maximum noise reduction) to 2x (minimum filtering).

```cpp
bool setSlowFilter(as5600_slow_filter_t filter);
as5600_slow_filter_t getSlowFilter();
```

```cpp
// Set maximum filtering for stability
as5600.setSlowFilter(AS5600_SLOW_FILTER_16X);

// Or set minimal filtering for fast response
// as5600.setSlowFilter(AS5600_SLOW_FILTER_2X);
```