Can't get this library to work

[MahOraibi]

Hello ZoetropeLabs,

I tried using this library with my as5048a, and normally if anything doesn't work properly I would assume it was my mistake at some point. However, I tried the same connection with another code for as5048a and it works perfectly, but I cannot use that code because it's too long and complicated unlike the library.

What is currently happening is:

• the serial monitor starts with a number higher than zero which is strange in its own, and I can't seem to know how to setZeroPosition.
• the angle is changing in negative and positive values when the motor (nema17) is moving at relatively moderate to high speeds.

all these issues didn't occur using the other code.

Here's my code and I really hope you can help me resolve these issues:

#include <SPI.h>
/*PINS
   Arduino SPI pins
   MOSI = 11, MISO = 12, SCK = 13, CS = 10
   STM32 SPI pins
   MOSI = PA7, MISO = PA6, SCK = PA5, CS = PA4
*/
#include "FastAccelStepper.h"
#include <TMCStepper.h>
#include <TMCStepper_UTILITY.h>
#include <AS5048A.h>

#define dirPinStepper 6
#define enablePinStepper 5
#define stepPinStepper 7
#define SERIAL_PORT Serial1 // TMC2208/TMC2224 HardwareSerial port
#define DRIVER_ADDRESS 0b00 // TMC2209 Driver address according to MS1 and MS2
#define DRIVER_ADDRESS2 0b01 // TMC2209 Driver address according to MS1 and MS2
#define xJoy A0
#define yJoy A1
#define preset_btn 4
#define RSENSE 0.11f // Match to your driver
TMC2209Stepper fDriver(&SERIAL_PORT, RSENSE, DRIVER_ADDRESS);
TMC2209Stepper zDriver(&SERIAL_PORT, RSENSE, DRIVER_ADDRESS2);
bool btnFlag;
volatile long currentPos;
long distance;
FastAccelStepperEngine engine = FastAccelStepperEngine();
FastAccelStepper *stepper = NULL;

AS5048A angleSensor(53);
  float val;
 int new_degree = 400;


void setup()
{
  SPI.begin();
  Serial.begin(19200);
  angleSensor.begin();
  pinMode(preset_btn, INPUT);
  digitalWrite(preset_btn, LOW);
  //Checking the initial angle
  
  SERIAL_PORT.begin(115200);      // HW UART drivers
  //fDriver.beginSerial(115200);
  fDriver.begin();                 //  SPI: Init CS pins and possible SW SPI pins
  // UART: Init SW UART (if selected) with default 115200 baudrate
  fDriver.toff(2);                 // Enables driver in software
  fDriver.rms_current(600);        // Set motor RMS current
  fDriver.microsteps(16);
  fDriver.en_spreadCycle(false);   // Toggle spreadCycle on TMC2208/2209/2224
  fDriver.pwm_autoscale(true);

  Serial.println("Starting");
  Serial.flush();
  engine.init();
  stepper = engine.stepperConnectToPin(stepPinStepper);
  if (stepper) {
    stepper->setDirectionPin(dirPinStepper);
    stepper->setEnablePin(enablePinStepper, true);
    stepper->enableOutputs();
    stepper->setAutoEnable(false);
    stepper->setSpeedInUs(250);  // the parameter is us/step !!!
    stepper->setAcceleration(3000);
  } else {
    Serial.println("Stepper Not initialized!");
    delay(1000);
  }
}

void loop()
{
  joystick ();
  //callPreset();
  val = angleSensor.getRotationInDegrees();
Serial.println(val);  
delay(10);
   /* while (Serial.available() == 0)   
    { //Wait for user input  
      }  
    String data = Serial.readString();
new_degree= data.toInt();
Serial.println(new_degree);
   Serial.println(val);*/
}

void joystick () {

  if (analogRead(xJoy) > 600) {
      stepper->runForward();
  } else if (analogRead(xJoy) < 450) {
     stepper->runBackward();
  } else {
    stepper->stopMove();
  }

}

void callPreset() {
  float deltaAngle = new_degree - (int)val;
  long deltaSteps = (long)(deltaAngle * 8.888);
  if (deltaSteps != 0) {
    stepper->move(deltaSteps); // move the same number of steps measured
    Serial.print("new position is");
    Serial.println(val);
    while (stepper->isRunning()){
      delay(2);
    }
  }    
}

[benhowes]

This library is no longer maintained, I don't think I can really provide you any help given it's been about 6 years since I last used it! I can see you use getRotationInDegrees, which doesn't seem to be part of the library code?