From 9e0fc03752e6e99856001c55b17dd1f9f02ea555 Mon Sep 17 00:00:00 2001
From: Rob Tillaart <rob.tillaart@gmail.com>
Date: Wed, 9 Oct 2024 15:55:15 +0200
Subject: [PATCH] Fix #69, resetCumulativePosition() (#70)

- fix #69, **resetCumulativePosition()**
- minor edits
---
 AS5600.cpp         | 21 ++++++++++++++-------
 AS5600.h           |  4 ++--
 CHANGELOG.md       |  5 ++++-
 README.md          |  6 ++++--
 library.json       |  2 +-
 library.properties |  2 +-
 6 files changed, 26 insertions(+), 14 deletions(-)

diff --git a/AS5600.cpp b/AS5600.cpp
index 49b79b2..d94f91b 100644
--- a/AS5600.cpp
+++ b/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
@@ -428,6 +428,7 @@ bool AS5600::magnetTooWeak()
 
 float AS5600::getAngularSpeed(uint8_t mode)
 {
+  //  default behaviour
   uint32_t now     = micros();
   int      angle   = readAngle();
   uint32_t deltaT  = now - _lastMeasurement;
@@ -436,9 +437,9 @@ 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;
+  float speed = (deltaA * 1e6) / deltaT;
 
   //  remember last time & angle
   _lastMeasurement = now;
@@ -465,7 +466,10 @@ float AS5600::getAngularSpeed(uint8_t mode)
 int32_t AS5600::getCumulativePosition()
 {
   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 +483,10 @@ 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 +511,7 @@ 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;
diff --git a/AS5600.h b/AS5600.h
index d2a3f7a..1339957 100644
--- a/AS5600.h
+++ b/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
diff --git a/CHANGELOG.md b/CHANGELOG.md
index 9603fe3..ed64957 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -5,6 +5,10 @@ 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 #69, **resetCumulativePosition()**
+- minor edits
+
 ## [0.6.2] - 2024-10-04
 - fix #65, make **getCumulativePosition()** direction aware.
 - optimize **readAngle()** and **rawAngle()**.
@@ -15,7 +19,6 @@ 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).
diff --git a/README.md b/README.md
index 07e1a7a..2938e64 100644
--- a/README.md
+++ b/README.md
@@ -385,8 +385,10 @@ 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)** 
+is an experimental function that returns 
 an approximation of the angular speed in rotations per second.
+
 The function needs to be called at least **four** times per rotation
 or once per second to get a reasonably precision. 
 
@@ -445,7 +447,7 @@ 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
diff --git a/library.json b/library.json
index ff24b3f..8ff2724 100644
--- a/library.json
+++ b/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": "*",
diff --git a/library.properties b/library.properties
index ea3cc7f..6cfcbc1 100644
--- a/library.properties
+++ b/library.properties
@@ -1,5 +1,5 @@
 name=AS5600
-version=0.6.2
+version=0.6.3
 author=Rob Tillaart <rob.tillaart@gmail.com>
 maintainer=Rob Tillaart <rob.tillaart@gmail.com>
 sentence=Arduino library for AS5600 and AS5600L magnetic rotation meter.