Fix #65, getCumulativePosition() + some more (#68)

- fix #65, make **getCumulativePosition()** direction aware.
- refactor**readAngle()** and **rawAngle()**.
- fix negative values in **getRevolutions()**.
- fix #66, make I2C functions virtual to improve derived class.
- fix **setOffset()** to not set offset to 360.
- add unit test for offset -0.01 and 360.0 (both should become 0.0).
- add **AS5600_output_speedtest.ino**, thanks to Pollyscracker.
- update readme.md.

Author: RobTillaart

AS5600.cpp

@@ -1,7 +1,7 @@
 //
 //    FILE: AS56000.cpp
 //  AUTHOR: Rob Tillaart
-// VERSION: 0.6.1
+// VERSION: 0.6.2
 // PURPOSE: Arduino library for AS5600 magnetic rotation meter
 //    DATE: 2022-05-28
 //     URL: https://github.com/RobTillaart/AS5600
@@ -303,8 +303,9 @@ uint8_t AS5600::getWatchDog()
 //
 uint16_t AS5600::rawAngle()
 {
-  int16_t value = readReg2(AS5600_RAW_ANGLE) & 0x0FFF;
-  if (_offset > 0) value = (value + _offset) & 0x0FFF;
+  int16_t value = readReg2(AS5600_RAW_ANGLE);
+  if (_offset > 0) value += _offset;
+  value &= 0x0FFF;
 
   if ((_directionPin == AS5600_SW_DIRECTION_PIN) &&
       (_direction == AS5600_COUNTERCLOCK_WISE))
@@ -317,8 +318,9 @@ uint16_t AS5600::rawAngle()
 
 uint16_t AS5600::readAngle()
 {
-  uint16_t value = readReg2(AS5600_ANGLE) & 0x0FFF;
-  if (_offset > 0) value = (value + _offset) & 0x0FFF;
+  uint16_t value = readReg2(AS5600_ANGLE);
+  if (_offset > 0) value += _offset;
+  value &= 0x0FFF;
 
   if ((_directionPin == AS5600_SW_DIRECTION_PIN) &&
       (_direction == AS5600_COUNTERCLOCK_WISE))
@@ -337,8 +339,8 @@ bool AS5600::setOffset(float degrees)
   if (neg) degrees = -degrees;
 
   uint16_t offset = round(degrees * AS5600_DEGREES_TO_RAW);
-  offset &= 4095;
-  if (neg) offset = 4096 - offset;
+  offset &= 0x0FFF;
+  if (neg) offset = (4096 - offset) & 0x0FFF;
   _offset = offset;
   return true;
 }
@@ -462,7 +464,7 @@ float AS5600::getAngularSpeed(uint8_t mode)
 //
 int32_t AS5600::getCumulativePosition()
 {
-  int16_t value = readReg2(AS5600_ANGLE) & 0x0FFF;
+  int16_t value = readAngle();
   if (_error != AS5600_OK) return _position;
 
   //  whole rotation CW?
@@ -487,9 +489,8 @@ int32_t AS5600::getCumulativePosition()
 int32_t AS5600::getRevolutions()
 {
   int32_t p = _position >> 12;  //  divide by 4096
+  if (p < 0) p++;  //  correct negative values, See #65
   return p;
-  // if (p < 0) p++;
-  // return p;
 }
 
 

AS5600.h

@@ -2,7 +2,7 @@
 //
 //    FILE: AS5600.h
 //  AUTHOR: Rob Tillaart
-// VERSION: 0.6.1
+// VERSION: 0.6.2
 // 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("0.6.1"))
+#define AS5600_LIB_VERSION              (F("0.6.2"))
 
 
 //  default addresses
@@ -102,7 +102,8 @@ class AS5600
   AS5600(TwoWire *wire = &Wire);
 
   bool     begin(uint8_t directionPin = AS5600_SW_DIRECTION_PIN);
-  bool     isConnected();
+  //  made virtual, see #66
+  virtual bool isConnected();
 
   //  address = fixed   0x36 for AS5600, 
   //          = default 0x40 for AS5600L
@@ -237,10 +238,11 @@ class AS5600
 
 
 protected:
-  uint8_t  readReg(uint8_t reg);
-  uint16_t readReg2(uint8_t reg);
-  uint8_t  writeReg(uint8_t reg, uint8_t value);
-  uint8_t  writeReg2(uint8_t reg, uint16_t value);
+  //  made virtual, see #66
+  virtual uint8_t  readReg(uint8_t reg);
+  virtual uint16_t readReg2(uint8_t reg);
+  virtual uint8_t  writeReg(uint8_t reg, uint8_t value);
+  virtual uint8_t  writeReg2(uint8_t reg, uint16_t value);
 
   uint8_t  _address         = AS5600_DEFAULT_ADDRESS;
   uint8_t  _directionPin    = 255;

CHANGELOG.md

@@ -5,13 +5,23 @@ The format is based on [Keep a Changelog](http://keepachangelog.com/)
 and this project adheres to [Semantic Versioning](http://semver.org/).
 
 
+## [0.6.2] - 2024-10-04
+- fix #65, make **getCumulativePosition()** direction aware.
+- optimize **readAngle()** and **rawAngle()**.
+- fix negative values in **getRevolutions()**.
+- fix #66, make I2C functions virtual to improve derived class.
+- fix **setOffset()** to not set offset to 360.
+- add unit test for offset -0.01 and 360.0 (both should become 0.0).
+- 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).
 - update GitHub actions
 - minor edits
 
-
 ## [0.6.0] - 2024-01-25
 - add experimental error handling
 - add **int lastError()** so user can check the status of last I2C actions.