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Jun 20, 2024
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Update magnetic_sensor_pwm.md #28

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29 changes: 3 additions & 26 deletions docs/simplefoc_library/code/sensors/magnetic/magnetic_sensor_pwm.md
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Original file line number Diff line number Diff line change
Expand Up @@ -126,7 +126,7 @@ There are two ways to use magnetic sensor implemented within this library:

### Position sensor for FOC algorithm

To use the ensor with the FOC algorithm implemented in this library, once when you have initialized `sensor.init()` (and possibly started the interrupts) you just need to link it to the motor by executing:
To use the sensor with the FOC algorithm implemented in this library, once when you have initialized `sensor.init()` (and possibly started the interrupts) you just need to link it to the motor by executing:
```cpp
motor.linkSensor(&sensor);
```
Expand All @@ -146,37 +146,14 @@ class MagneticSensorPWM{

<blockquote markdown="1" class="info">
<p class="heading" markdown="1">Calling `getVelocity` multiple times</p>
When calling `getVelocity` it will only calculate the velocity if the elapsed time from the previous call is longer than the time specified in teh variable `min_elapsed_time` (default 100us). If the elapsed time from the last call is shorter than `min_elapsed_time` the function will return previously calculated value. Variable `min_elapsed_time` can be changed easily if necessary:
When calling `getVelocity` it will only calculate the velocity if the elapsed time from the previous call is longer than the time specified in the variable `min_elapsed_time` (default 100us). If the elapsed time from the last call is shorter than `min_elapsed_time` the function will return previously calculated value. Variable `min_elapsed_time` can be changed easily if necessary:

```cpp
sensor.min_elapsed_time = 0.0001; // 100us by default
```
</blockquote>



<blockquote markdown="1" class="info">
<p class="heading" markdown="1">Calling `getVelocity` multiple times</p>
When calling `getVelocity` it will only calculate the velocity if the elapsed time from the previous call is longer than the time specified in teh variable `min_elapsed_time` (default 100us). If the elapsed time from the last call is shorter than `min_elapsed_time` the function will return previously calculated value. Variable `min_elapsed_time` can be changed easily if necessary:

```cpp
sensor.min_elapsed_time = 0.0001; // 100us by default
```
</blockquote>



<blockquote markdown="1" class="info">
<p class="heading" markdown="1">Calling `getVelocity` multiple times</p>
When calling `getVelocity` it will only calculate the velocity if the elapsed time from the previous call is longer than the time specified in teh variable `min_elapsed_time` (default 100us). If the elapsed time from the last call is shorter than `min_elapsed_time` the function will return previously calculated value. Variable `min_elapsed_time` can be changed easily if necessary:

```cpp
sensor.min_elapsed_time = 0.0001; // 100us by default
```
</blockquote>



Here is a quick example for AS5048A magnetic sensor using its PWM output:
```cpp
#include <SimpleFOC.h>
Expand Down Expand Up @@ -210,4 +187,4 @@ void loop() {
Serial.print("\t");
Serial.println(sensor.getVelocity());
}
```
```