fix #66

RobTillaart · Oct 5, 2024 · 6b23449 · 6b23449
1 parent e1475f8
commit 6b23449
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Showing 3 changed files with 24 additions and 11 deletions.
diff --git a/AS5600.h b/AS5600.h
@@ -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;

diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -6,13 +6,14 @@ 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 #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
+- add **AS5600_output_speedtest.ino**, thanks to Pollyscracker.
+- update readme.md.
 
 
 ## [0.6.1] - 2024-03-31

diff --git a/README.md b/README.md
@@ -34,6 +34,16 @@ or fluctuating power supply.
 Please share your experiences.
 
 
+### 0.6.2 bug fixes.
+
+Version 0.6.2 fixes bugs that might affect your code.
+
+- fix **getCumulativePosition()** to make it direction aware.
+- fix negative values in **getRevolutions()**.
+- fix **setOffset()** to not set offset to 360 degrees.
+- fix #66, make I2C functions virtual.
+
+
 ### 0.5.0 Breaking change
 
 Version 0.5.0 introduced a breaking change.
@@ -729,7 +739,7 @@ priority is relative.
 
 #### Must
 
-- re-organize readme
+- re-organize readme.md
 - rename revolution functions
   - to what?