Fix #67, Fix #69

AS5600.cpp

@@ -1,7 +1,7 @@
 //
 //    FILE: AS56000.cpp
 //  AUTHOR: Rob Tillaart
-// VERSION: 0.6.2
+// VERSION: 0.6.3
 // PURPOSE: Arduino library for AS5600 magnetic rotation meter
 //    DATE: 2022-05-28
 //     URL: https://github.com/RobTillaart/AS5600
@@ -426,8 +426,15 @@ bool AS5600::magnetTooWeak()
 //  }
 
 
-float AS5600::getAngularSpeed(uint8_t mode)
+float AS5600::getAngularSpeed(uint8_t mode, bool update)
 {
+  static float speed = 0;
+
+  if (update == false)
+  {
+    return speed;
+  }
+  //  default behaviour
   uint32_t now     = micros();
   int      angle   = readAngle();
   uint32_t deltaT  = now - _lastMeasurement;
@@ -436,9 +443,9 @@ float AS5600::getAngularSpeed(uint8_t mode)
   //  assumption is that there is no more than 180° rotation
   //  between two consecutive measurements.
   //  => at least two measurements per rotation (preferred 4).
-  if (deltaA >  2048) deltaA -= 4096;
-  if (deltaA < -2048) deltaA += 4096;
-  float    speed   = (deltaA * 1e6) / deltaT;
+  if (deltaA >  2048)      deltaA -= 4096;
+  else if (deltaA < -2048) deltaA += 4096;
+  speed = (deltaA * 1e6) / deltaT;
 
   //  remember last time & angle
   _lastMeasurement = now;
@@ -462,10 +469,17 @@ float AS5600::getAngularSpeed(uint8_t mode)
 //
 //  POSITION cumulative
 //
-int32_t AS5600::getCumulativePosition()
+int32_t AS5600::getCumulativePosition(bool update)
 {
+  if (update == false)
+  {
+    return _position;
+  }
   int16_t value = readAngle();
-  if (_error != AS5600_OK) return _position;
+  if (_error != AS5600_OK)
+  {
+    return _position;
+  }
 
   //  whole rotation CW?
   //  less than half a circle
@@ -479,7 +493,10 @@ int32_t AS5600::getCumulativePosition()
   {
     _position = _position - 4096 - _lastPosition + value;
   }
-  else _position = _position - _lastPosition + value;
+  else
+  {
+    _position = _position - _lastPosition + value;
+  }
   _lastPosition = value;
 
   return _position;
@@ -504,7 +521,7 @@ int32_t AS5600::resetPosition(int32_t position)
 
 int32_t AS5600::resetCumulativePosition(int32_t position)
 {
-  _lastPosition = readReg2(AS5600_RAW_ANGLE) & 0x0FFF;
+  _lastPosition = readAngle();
   int32_t old = _position;
   _position = position;
   return old;

AS5600.h

@@ -2,7 +2,7 @@
 //
 //    FILE: AS5600.h
 //  AUTHOR: Rob Tillaart
-// VERSION: 0.6.2
+// VERSION: 0.6.3
 // PURPOSE: Arduino library for AS5600 magnetic rotation meter
 //    DATE: 2022-05-28
 //     URL: https://github.com/RobTillaart/AS5600
@@ -12,7 +12,7 @@
 #include "Wire.h"
 
 
-#define AS5600_LIB_VERSION              (F("0.6.2"))
+#define AS5600_LIB_VERSION              (F("0.6.3"))
 
 
 //  default addresses
@@ -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);
+  float    getAngularSpeed(uint8_t mode = AS5600_MODE_DEGREES, bool update = true);
 
   //  EXPERIMENTAL CUMULATIVE POSITION
   //  reads sensor and updates cumulative position
-  int32_t  getCumulativePosition();
+  int32_t  getCumulativePosition(bool update = true);
   //  converts last position to whole revolutions.
   int32_t  getRevolutions();
   //  resets position only (not the i)

CHANGELOG.md

@@ -5,6 +5,11 @@ The format is based on [Keep a Changelog](http://keepachangelog.com/)
 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
+
 ## [0.6.2] - 2024-10-04
 - fix #65, make **getCumulativePosition()** direction aware.
 - optimize **readAngle()** and **rawAngle()**.
@@ -15,7 +20,6 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 - add **AS5600_output_speedtest.ino**, thanks to Pollyscracker.
 - update readme.md.
 
-
 ## [0.6.1] - 2024-03-31
 - improve **getCumulativePosition()**, catch I2C error, see #62
 - update readme.md (incl reorder future work).

README.md

@@ -385,8 +385,11 @@ as.increaseOffset(-30);
 
 ### Angular Speed
 
-- **float getAngularSpeed(uint8_t mode = AS5600_MODE_DEGREES)** is an experimental function that returns 
+- **float getAngularSpeed(uint8_t mode = AS5600_MODE_DEGREES, bool update = true)** 
+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. 
 
@@ -418,7 +421,7 @@ 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()**
+per revolution with **getCumulativePosition(bool update = true)**
 
 The cumulative position (32 bits) consists of 3 parts
 
@@ -431,8 +434,9 @@ The cumulative position (32 bits) consists of 3 parts
 
 Functions are:
 
-- **int32_t getCumulativePosition()** reads sensor and updates cumulative position.  
+- **int32_t getCumulativePosition(bool update = true)** 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
@@ -445,7 +449,7 @@ Returns last position (before reset).
 This includes the delta (rotation) since last call to **getCumulativePosition()**.
 Returns last position (before reset).
 
-As this code is experimental, names might change in the future (0.4.0)?
+As this code is experimental, names might change in the future.
 As the function are mostly about counting revolutions the current thoughts for new names are:
 
 ```cpp

library.json

@@ -15,7 +15,7 @@
     "type": "git",
     "url": "https://github.com/RobTillaart/AS5600.git"
   },
-  "version": "0.6.2",
+  "version": "0.6.3",
   "license": "MIT",
   "frameworks": "*",
   "platforms": "*",

library.properties

@@ -1,5 +1,5 @@
 name=AS5600
-version=0.6.2
+version=0.6.3
 author=Rob Tillaart <[email protected]>
 maintainer=Rob Tillaart <[email protected]>
 sentence=Arduino library for AS5600 and AS5600L magnetic rotation meter.