Detecting Full Rotations with AS5600 Sensor in C++

This code snippet checks if the absolute value of the difference in angle ('d_angle') is greater than 0.8 times the resolution of the AS5600 sensor. If it is, it means that the sensor has completed a full rotation and the 'full_rotation_offset' variable needs to be updated accordingly. If 'd_angle' is positive, it means that the sensor has rotated clockwise and the offset should be decreased by 2π (a full rotation). If 'd_angle' is negative, it means that the sensor has rotated counterclockwise and the offset should be increased by 2π.