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)

  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.start_time = millis();