Fix #51, add increaseOffset() (#52)

- fix #51, add **increaseOffset(float degrees)** - update keywords.txt - update readme.md (several cleanups)
RobTillaart · Jan 5, 2024 · 5134633 · 5134633
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diff --git a/AS5600.cpp b/AS5600.cpp
@@ -1,7 +1,7 @@
 //
 //    FILE: AS56000.cpp
 //  AUTHOR: Rob Tillaart
-// VERSION: 0.5.0
+// VERSION: 0.5.1
 // PURPOSE: Arduino library for AS5600 magnetic rotation meter
 //    DATE: 2022-05-28
 //     URL: https://github.com/RobTillaart/AS5600
@@ -350,6 +350,13 @@ float AS5600::getOffset()
 }
 
 
+bool AS5600::increaseOffset(float degrees)
+{
+  //  add offset to existing offset in degrees.
+  return setOffset((_offset * AS5600_RAW_TO_DEGREES) + degrees);
+}
+
+
 /////////////////////////////////////////////////////////
 //
 //  STATUS REGISTERS

diff --git a/AS5600.h b/AS5600.h
@@ -2,7 +2,7 @@
 //
 //    FILE: AS5600.h
 //  AUTHOR: Rob Tillaart
-// VERSION: 0.5.0
+// VERSION: 0.5.1
 // 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("0.5.0"))
+#define AS5600_LIB_VERSION              (F("0.5.1"))
 
 //  default addresses
 const uint8_t AS5600_DEFAULT_ADDRESS    = 0x36;
@@ -180,8 +180,9 @@ class AS5600
   //  degrees = -359.99 .. 359.99 (preferred)
   //  returns false if abs(parameter) > 36000
   //          => expect loss of precision
-  bool     setOffset(float degrees);
+  bool     setOffset(float degrees);       //  sets an absolute offset
   float    getOffset();
+  bool     increaseOffset(float degrees);  //  adds to existing offset.
 
 
   //  READ STATUS REGISTERS

diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -5,6 +5,12 @@ The format is based on [Keep a Changelog](http://keepachangelog.com/)
 and this project adheres to [Semantic Versioning](http://semver.org/).
 
 
+## [0.5.1] - 2023-12-31
+- fix #51, add **increaseOffset(float degrees)**
+- update keywords.txt
+- update readme.md (several cleanups)
+
+
 ## [0.5.0] - 2023-12-07
 - refactor API, begin()
 - update readme.md

diff --git a/LICENSE b/LICENSE
@@ -1,6 +1,6 @@
 MIT License
 
-Copyright (c) 2022-2023 Rob Tillaart
+Copyright (c) 2022-2024 Rob Tillaart
 
 Permission is hereby granted, free of charge, to any person obtaining a copy
 of this software and associated documentation files (the "Software"), to deal

diff --git a/README.md b/README.md
@@ -222,11 +222,6 @@ interface as parameter.
 If the pin is set to AS5600_SW_DIRECTION_PIN, the default value, 
 there will be software direction control instead of hardware control.
 See below.
-- **bool begin(int dataPin, int clockPin, uint8_t directionPin = AS5600_SW_DIRECTION_PIN)** idem, 
-for the ESP32 where one can choose the I2C pins.
-If the pin is set to AS5600_SW_DIRECTION_PIN, the default value, there will be software 
-direction control instead of hardware control.
-See below.
 - **bool isConnected()** checks if the address 0x36 (AS5600) is on the I2C bus.
 - **uint8_t getAddress()** returns the fixed device address 0x36 (AS5600).
 
@@ -281,6 +276,7 @@ Returns false if parameter is out of range.
 
 
 The library has functions to address these fields directly.
+
 The setters() returns false if parameter is out of range.
 
 - **bool setPowerMode(uint8_t powerMode)** 
@@ -311,20 +307,43 @@ Conversion factor AS5600_RAW_TO_DEGREES = 360 / 4096 = 0.087890625
 or use AS5600_RAW_TO_RADIANS if needed.
 The value of this register can be affected by the configuration bits above.
 This is the one most used. 
-- **void setOffset(float degrees)** sets an offset in degrees,
-e.g. to calibrate the sensor after mounting.
+- **bool setOffset(float degrees)** overwrites the **existing** offset.
+It sets an offset in degrees, e.g. to calibrate the sensor after mounting.
 Typical values are -359.99 - 359.99 probably smaller. 
 Larger values will be mapped back to this interval.
 Be aware that larger values will affect / decrease the precision of the 
 measurements as floats have only 7 significant digits.
 Verify this for your application.
+Returns false if **degrees** > 360000.
 - **float getOffset()** returns offset in degrees.
+- **bool increaseOffset(float degrees)** adds degrees to the **existing** offset. 
+If **setOffset(20)** is called first and **increaseOffset(-30)** thereafter the
+new offset is -10 degrees.
+Returns false if **degrees** > 360000.
 
 In issue #14 there is a discussion about **setOffset()**.
 A possible implementation is to ignore all values outside the
 -359.99 - 359.99 range.
 This would help to keep the precision high. User responsibility.
 
+In #51 increaseOffset is discussed.
+
+```cpp
+//  offset == 0;
+as.setOffset(20);
+//  offset == 20;
+as.setOffset(-30);
+//  offset = -30;
+
+//  versus
+
+//  offset == 0;
+as.setOffset(20);
+//  offset == 20;
+as.increaseOffset(-30);
+//  offset = -10;
+```
+
 
 #### Angular Speed
 

diff --git a/keywords.txt b/keywords.txt
@@ -27,12 +27,34 @@ getMaxAngle	KEYWORD2
 setConfigure	KEYWORD2
 getConfigure	KEYWORD2
 
+setPowerMode	KEYWORD2
+getPowerMode	KEYWORD2
+setHysteresis	KEYWORD2
+getHysteresis	KEYWORD2
+
+setOutputMode	KEYWORD2
+getOutputMode	KEYWORD2
+setPWMFrequency	KEYWORD2
+getPWMFrequency	KEYWORD2
+
+setSlowFilter	KEYWORD2
+getSlowFilter	KEYWORD2
+setFastFilter	KEYWORD2
+getFastFilter	KEYWORD2
+
+setWatchDog	KEYWORD2
+getWatchDog	KEYWORD2
+
 rawAngle	KEYWORD2
 readAngle	KEYWORD2
+setOffset	KEYWORD2
+increaseOffset	KEYWORD2
+getOffset	KEYWORD2
 
 readStatus	KEYWORD2
 readAGC	KEYWORD2
 readMagnitude	KEYWORD2
+
 detectMagnet	KEYWORD2
 magnetTooStrong	KEYWORD2
 magnetTooWeak	KEYWORD2

diff --git a/library.json b/library.json
@@ -15,7 +15,7 @@
     "type": "git",
     "url": "https://github.com/RobTillaart/AS5600.git"
   },
-  "version": "0.5.0",
+  "version": "0.5.1",
   "license": "MIT",
   "frameworks": "*",
   "platforms": "*",

diff --git a/library.properties b/library.properties
@@ -1,5 +1,5 @@
 name=AS5600
-version=0.5.0
+version=0.5.1
 author=Rob Tillaart <[email protected]>
 maintainer=Rob Tillaart <[email protected]>
 sentence=Arduino library for AS5600 and AS5600L magnetic rotation meter.

diff --git a/test/unit_test_001.cpp b/test/unit_test_001.cpp
@@ -182,7 +182,7 @@ unittest(test_software_direction)
 }
 
 
-unittest(test_offset)
+unittest(test_offset_I)
 {
   AS5600 as5600;
 
@@ -210,6 +210,48 @@ unittest(test_offset)
 }
 
 
+unittest(test_offset_II)
+{
+  AS5600 as5600;
+
+  Wire.begin();
+
+  as5600.begin();
+
+  as5600.setOffset(200);
+  assertEqualFloat(200, as5600.getOffset(), 0.05);
+
+  as5600.setOffset(30);
+  assertEqualFloat(30, as5600.getOffset(), 0.05);
+
+  as5600.setOffset(200);
+  assertEqualFloat(200, as5600.getOffset(), 0.05);
+
+  as5600.setOffset(-30);
+  assertEqualFloat(330, as5600.getOffset(), 0.05);
+
+
+  //  as cummulative error can be larger ==> 0.1 
+  as5600.setOffset(200);
+  assertEqualFloat(200, as5600.getOffset(), 0.1);
+
+  as5600.increaseOffset(30);
+  assertEqualFloat(230, as5600.getOffset(), 0.1);
+
+  as5600.setOffset(200);
+  assertEqualFloat(200, as5600.getOffset(), 0.1);
+
+  as5600.increaseOffset(-30);
+  assertEqualFloat(170, as5600.getOffset(), 0.1);
+
+  as5600.setOffset(200);
+  assertEqualFloat(200, as5600.getOffset(), 0.1);
+
+  as5600.increaseOffset(-300);
+  assertEqualFloat(260, as5600.getOffset(), 0.1);
+}
+
+
 unittest(test_failing_set_commands)
 {
   AS5600 as5600;