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0.5.1 AS5600
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Rob Tillaart
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@ -1,7 +1,7 @@
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//
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// FILE: AS56000.cpp
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// AUTHOR: Rob Tillaart
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// VERSION: 0.5.0
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// VERSION: 0.5.1
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// PURPOSE: Arduino library for AS5600 magnetic rotation meter
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// DATE: 2022-05-28
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// URL: https://github.com/RobTillaart/AS5600
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@ -350,6 +350,13 @@ float AS5600::getOffset()
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}
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bool AS5600::increaseOffset(float degrees)
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{
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// add offset to existing offset in degrees.
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return setOffset((_offset * AS5600_RAW_TO_DEGREES) + degrees);
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}
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/////////////////////////////////////////////////////////
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//
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// STATUS REGISTERS
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@ -2,7 +2,7 @@
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//
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// FILE: AS5600.h
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// AUTHOR: Rob Tillaart
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// VERSION: 0.5.0
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// VERSION: 0.5.1
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// PURPOSE: Arduino library for AS5600 magnetic rotation meter
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// DATE: 2022-05-28
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// URL: https://github.com/RobTillaart/AS5600
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@ -12,7 +12,7 @@
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#include "Wire.h"
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#define AS5600_LIB_VERSION (F("0.5.0"))
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#define AS5600_LIB_VERSION (F("0.5.1"))
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// default addresses
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const uint8_t AS5600_DEFAULT_ADDRESS = 0x36;
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@ -180,8 +180,9 @@ public:
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// degrees = -359.99 .. 359.99 (preferred)
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// returns false if abs(parameter) > 36000
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// => expect loss of precision
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bool setOffset(float degrees);
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bool setOffset(float degrees); // sets an absolute offset
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float getOffset();
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bool increaseOffset(float degrees); // adds to existing offset.
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// READ STATUS REGISTERS
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@ -5,6 +5,12 @@ The format is based on [Keep a Changelog](http://keepachangelog.com/)
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and this project adheres to [Semantic Versioning](http://semver.org/).
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## [0.5.1] - 2023-12-31
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- fix #51, add **increaseOffset(float degrees)**
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- update keywords.txt
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- update readme.md (several cleanups)
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## [0.5.0] - 2023-12-07
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- refactor API, begin()
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- update readme.md
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@ -1,6 +1,6 @@
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MIT License
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Copyright (c) 2022-2023 Rob Tillaart
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Copyright (c) 2022-2024 Rob Tillaart
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Permission is hereby granted, free of charge, to any person obtaining a copy
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of this software and associated documentation files (the "Software"), to deal
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@ -222,11 +222,6 @@ interface as parameter.
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If the pin is set to AS5600_SW_DIRECTION_PIN, the default value,
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there will be software direction control instead of hardware control.
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See below.
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- **bool begin(int dataPin, int clockPin, uint8_t directionPin = AS5600_SW_DIRECTION_PIN)** idem,
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for the ESP32 where one can choose the I2C pins.
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If the pin is set to AS5600_SW_DIRECTION_PIN, the default value, there will be software
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direction control instead of hardware control.
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See below.
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- **bool isConnected()** checks if the address 0x36 (AS5600) is on the I2C bus.
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- **uint8_t getAddress()** returns the fixed device address 0x36 (AS5600).
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@ -281,6 +276,7 @@ Returns false if parameter is out of range.
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The library has functions to address these fields directly.
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The setters() returns false if parameter is out of range.
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- **bool setPowerMode(uint8_t powerMode)**
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@ -311,20 +307,43 @@ Conversion factor AS5600_RAW_TO_DEGREES = 360 / 4096 = 0.087890625
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or use AS5600_RAW_TO_RADIANS if needed.
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The value of this register can be affected by the configuration bits above.
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This is the one most used.
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- **void setOffset(float degrees)** sets an offset in degrees,
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e.g. to calibrate the sensor after mounting.
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- **bool setOffset(float degrees)** overwrites the **existing** offset.
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It sets an offset in degrees, e.g. to calibrate the sensor after mounting.
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Typical values are -359.99 - 359.99 probably smaller.
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Larger values will be mapped back to this interval.
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Be aware that larger values will affect / decrease the precision of the
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measurements as floats have only 7 significant digits.
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Verify this for your application.
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Returns false if **degrees** > 360000.
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- **float getOffset()** returns offset in degrees.
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- **bool increaseOffset(float degrees)** adds degrees to the **existing** offset.
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If **setOffset(20)** is called first and **increaseOffset(-30)** thereafter the
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new offset is -10 degrees.
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Returns false if **degrees** > 360000.
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In issue #14 there is a discussion about **setOffset()**.
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A possible implementation is to ignore all values outside the
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-359.99 - 359.99 range.
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This would help to keep the precision high. User responsibility.
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In #51 increaseOffset is discussed.
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```cpp
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// offset == 0;
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as.setOffset(20);
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// offset == 20;
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as.setOffset(-30);
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// offset = -30;
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// versus
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// offset == 0;
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as.setOffset(20);
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// offset == 20;
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as.increaseOffset(-30);
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// offset = -10;
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```
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#### Angular Speed
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@ -27,12 +27,34 @@ getMaxAngle KEYWORD2
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setConfigure KEYWORD2
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getConfigure KEYWORD2
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setPowerMode KEYWORD2
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getPowerMode KEYWORD2
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setHysteresis KEYWORD2
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getHysteresis KEYWORD2
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setOutputMode KEYWORD2
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getOutputMode KEYWORD2
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setPWMFrequency KEYWORD2
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getPWMFrequency KEYWORD2
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setSlowFilter KEYWORD2
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getSlowFilter KEYWORD2
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setFastFilter KEYWORD2
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getFastFilter KEYWORD2
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setWatchDog KEYWORD2
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getWatchDog KEYWORD2
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rawAngle KEYWORD2
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readAngle KEYWORD2
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setOffset KEYWORD2
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increaseOffset KEYWORD2
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getOffset KEYWORD2
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readStatus KEYWORD2
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readAGC KEYWORD2
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readMagnitude KEYWORD2
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detectMagnet KEYWORD2
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magnetTooStrong KEYWORD2
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magnetTooWeak KEYWORD2
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@ -15,7 +15,7 @@
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"type": "git",
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"url": "https://github.com/RobTillaart/AS5600.git"
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},
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"version": "0.5.0",
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"version": "0.5.1",
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"license": "MIT",
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"frameworks": "*",
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"platforms": "*",
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@ -1,5 +1,5 @@
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name=AS5600
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version=0.5.0
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version=0.5.1
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author=Rob Tillaart <rob.tillaart@gmail.com>
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maintainer=Rob Tillaart <rob.tillaart@gmail.com>
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sentence=Arduino library for AS5600 and AS5600L magnetic rotation meter.
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@ -182,7 +182,7 @@ unittest(test_software_direction)
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}
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unittest(test_offset)
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unittest(test_offset_I)
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{
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AS5600 as5600;
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@ -210,6 +210,48 @@ unittest(test_offset)
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}
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unittest(test_offset_II)
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{
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AS5600 as5600;
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Wire.begin();
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as5600.begin();
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as5600.setOffset(200);
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assertEqualFloat(200, as5600.getOffset(), 0.05);
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as5600.setOffset(30);
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assertEqualFloat(30, as5600.getOffset(), 0.05);
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as5600.setOffset(200);
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assertEqualFloat(200, as5600.getOffset(), 0.05);
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as5600.setOffset(-30);
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assertEqualFloat(330, as5600.getOffset(), 0.05);
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// as cummulative error can be larger ==> 0.1
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as5600.setOffset(200);
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assertEqualFloat(200, as5600.getOffset(), 0.1);
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as5600.increaseOffset(30);
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assertEqualFloat(230, as5600.getOffset(), 0.1);
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as5600.setOffset(200);
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assertEqualFloat(200, as5600.getOffset(), 0.1);
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as5600.increaseOffset(-30);
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assertEqualFloat(170, as5600.getOffset(), 0.1);
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as5600.setOffset(200);
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assertEqualFloat(200, as5600.getOffset(), 0.1);
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as5600.increaseOffset(-300);
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assertEqualFloat(260, as5600.getOffset(), 0.1);
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}
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unittest(test_failing_set_commands)
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{
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AS5600 as5600;
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