#include <Wire.h>

// Endereço I2C padrão do AS5600
#define AS5600_ADDR       0x36
// Registrador de ângulo bruto (RAW_ANGLE, 12 bits)
#define AS5600_RAW_ANGLE  0x0C

// Ajusta aqui pros pinos que você usar no ESP32-S3
const int SDA_PIN = 1;
const int SCL_PIN = 2;

uint16_t lerRawAngle()
{
    Wire.beginTransmission(AS5600_ADDR);
    Wire.write(AS5600_RAW_ANGLE);
    Wire.endTransmission();

    Wire.requestFrom(AS5600_ADDR, 2);
    if (Wire.available() < 2)
        return 0;

    uint8_t highByte = Wire.read();
    uint8_t lowByte  = Wire.read();

    uint16_t raw = ((uint16_t)highByte << 8) | lowByte;
    raw &= 0x0FFF; // só 12 bits válidos

    return raw;
}

float rawToDegrees(uint16_t raw)
{
    // 0..4095 -> 0..360°
    return (raw * 360.0f) / 4096.0f;
}

void setup()
{
    Serial.begin(115200);
    delay(500);

    Wire.begin(SDA_PIN, SCL_PIN);
    Serial.println("Teste AS5600 - I2C");
}

void loop()
{
    uint16_t raw = lerRawAngle();
    float deg = rawToDegrees(raw);

    Serial.print("Raw: ");
    Serial.print(raw);
    Serial.print("  |  Angulo: ");
    Serial.print(deg, 2);
    Serial.println(" graus");

    delay(200);
}