Fix #69

RobTillaart · Oct 9, 2024 · bdd740f · bdd740f
1 parent f55e473
commit bdd740f
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Showing 4 changed files with 8 additions and 21 deletions.
diff --git a/AS5600.cpp b/AS5600.cpp
@@ -426,14 +426,8 @@ bool AS5600::magnetTooWeak()
 //  }
 
 
-float AS5600::getAngularSpeed(uint8_t mode, bool update)
+float AS5600::getAngularSpeed(uint8_t mode)
 {
-  static float speed = 0;
-
-  if (update == false)
-  {
-    return speed;
-  }
   //  default behaviour
   uint32_t now     = micros();
   int      angle   = readAngle();
@@ -445,7 +439,7 @@ float AS5600::getAngularSpeed(uint8_t mode, bool update)
   //  => at least two measurements per rotation (preferred 4).
   if (deltaA >  2048)      deltaA -= 4096;
   else if (deltaA < -2048) deltaA += 4096;
-  speed = (deltaA * 1e6) / deltaT;
+  float speed = (deltaA * 1e6) / deltaT;
 
   //  remember last time & angle
   _lastMeasurement = now;
@@ -469,12 +463,8 @@ float AS5600::getAngularSpeed(uint8_t mode, bool update)
 //
 //  POSITION cumulative
 //
-int32_t AS5600::getCumulativePosition(bool update)
+int32_t AS5600::getCumulativePosition()
 {
-  if (update == false)
-  {
-    return _position;
-  }
   int16_t value = readAngle();
   if (_error != AS5600_OK)
   {

diff --git a/AS5600.h b/AS5600.h
@@ -219,11 +219,11 @@ class AS5600
   //  approximation of the angular speed in rotations per second.
   //  mode == 1: radians /second
   //  mode == 0: degrees /second  (default)
-  float    getAngularSpeed(uint8_t mode = AS5600_MODE_DEGREES, bool update = true);
+  float    getAngularSpeed(uint8_t mode = AS5600_MODE_DEGREES);
 
   //  EXPERIMENTAL CUMULATIVE POSITION
   //  reads sensor and updates cumulative position
-  int32_t  getCumulativePosition(bool update = true);
+  int32_t  getCumulativePosition();
   //  converts last position to whole revolutions.
   int32_t  getRevolutions();
   //  resets position only (not the i)

diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -6,7 +6,6 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 
 ## [0.6.3] - 2024-10-04
-- fix #67, add update flag for speed and cumulative position
 - fix #69, **resetCumulativePosition()**
 - minor edits
 

diff --git a/README.md b/README.md
@@ -385,10 +385,9 @@ as.increaseOffset(-30);
 
 ### Angular Speed
 
-- **float getAngularSpeed(uint8_t mode = AS5600_MODE_DEGREES, bool update = true)** 
+- **float getAngularSpeed(uint8_t mode = AS5600_MODE_DEGREES)** 
 is an experimental function that returns 
 an approximation of the angular speed in rotations per second.
-If the update flag is set to false, it returns the last calculated speed.
 
 The function needs to be called at least **four** times per rotation
 or once per second to get a reasonably precision. 
@@ -421,7 +420,7 @@ should be within 180° = half a rotation.
 Since 0.3.3 an experimental cumulative position can be requested from the library.
 The sensor does not provide interrupts to indicate a movement or revolution
 Therefore one has to poll the sensor at a frequency at least **three** times 
-per revolution with **getCumulativePosition(bool update = true)**
+per revolution with **getCumulativePosition()**
 
 The cumulative position (32 bits) consists of 3 parts
 
@@ -434,9 +433,8 @@ The cumulative position (32 bits) consists of 3 parts
 
 Functions are:
 
-- **int32_t getCumulativePosition(bool update = true)** reads sensor and updates cumulative position.  
+- **int32_t getCumulativePosition()** reads sensor and updates cumulative position.  
 Updated in 0.6.2 to follow the setting of the **directionPin**.
-If update == false, it returns the last calculated position.
 - **int32_t getRevolutions()** converts last position to whole revolutions.
 Convenience function.
 Updated in 0.6.2 to return **zero** for the first negative revolution as this