> For the complete documentation index, see [llms.txt](https://docs.feelix.xyz/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://docs.feelix.xyz/downloads/arduino-library-documentation/sensing.md).

# Sensing

**Read onboard sensors every loop** – call `feelix.run();` to update motor state and sensor values:

* **Angle** – `feelix.angle` *(float, radians)*
* **Angle in degrees** – `feelix.angleDeg` *(float, degrees)* 
* **Velocity** – `feelix.velocity` *(float, rad/s)*
* **Rotation direction** – `feelix.rotation_dir` *(enum `Direction : int8_t`)*

  ```cpp
  enum Direction : int8_t {
      CW      = 1,  // clockwise
      CCW     = -1, // counterclockwise
      UNKNOWN = 0   // invalid or not yet known
  };
  ```
* **Temperature** – `feelix.temperature` *(float, °C)*
* **Current time** – `feelix.current_time` *(long, ms since program start)*
  * Reset with `feelix.resetTime();`