diff --git a/AS5600.cpp b/AS5600.cpp
index 13652e9..77efd7f 100644
--- a/AS5600.cpp
+++ b/AS5600.cpp
@@ -1,7 +1,7 @@
 //
 //    FILE: AS56000.cpp
 //  AUTHOR: Rob Tillaart
-// VERSION: 0.4.1
+// VERSION: 0.5.0
 // PURPOSE: Arduino library for AS5600 magnetic rotation meter
 //    DATE: 2022-05-28
 //     URL: https://github.com/RobTillaart/AS5600
@@ -55,56 +55,6 @@ AS5600::AS5600(TwoWire *wire)
 }
 
 
-#if defined (ESP8266) || defined(ESP32)
-
-bool AS5600::begin(int dataPin, int clockPin, uint8_t directionPin)
-{
-  _directionPin = directionPin;
-  if (_directionPin != AS5600_SW_DIRECTION_PIN)
-  {
-    pinMode(_directionPin, OUTPUT);
-  }
-  setDirection(AS5600_CLOCK_WISE);
-
-  if ((dataPin < 255) && (clockPin < 255))
-  {
-    _wire->begin(dataPin, clockPin);
-  } else {
-    _wire->begin();
-  }
-  if (! isConnected()) return false;
-  return true;
-}
-
-#endif
-
-
-#if defined (ARDUINO_ARCH_STM32)
-
-bool AS5600::begin(int dataPin, int clockPin, uint8_t directionPin)
-{
-  _directionPin = directionPin;
-  if (_directionPin != AS5600_SW_DIRECTION_PIN)
-  {
-    pinMode(_directionPin, OUTPUT);
-  }
-  setDirection(AS5600_CLOCK_WISE);
-
-  if ((dataPin < 255) && (clockPin < 255))
-  {
-    _wire->setSDA(dataPin);
-    _wire->setSCL(clockPin);
-    _wire->begin();
-  } else {
-    _wire->begin();
-  }
-  if (! isConnected()) return false;
-  return true;
-}
-
-#endif
-
-
 bool AS5600::begin(uint8_t directionPin)
 {
   _directionPin = directionPin;
@@ -114,7 +64,6 @@ bool AS5600::begin(uint8_t directionPin)
   }
   setDirection(AS5600_CLOCK_WISE);
 
-  _wire->begin();
   if (! isConnected()) return false;
   return true;
 }
diff --git a/AS5600.h b/AS5600.h
index 411e49f..5d9fbcb 100644
--- a/AS5600.h
+++ b/AS5600.h
@@ -2,7 +2,7 @@
 //
 //    FILE: AS5600.h
 //  AUTHOR: Rob Tillaart
-// VERSION: 0.4.1
+// VERSION: 0.5.0
 // 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("0.4.1"))
+#define AS5600_LIB_VERSION              (F("0.5.0"))
 
 //  default addresses
 const uint8_t AS5600_DEFAULT_ADDRESS    = 0x36;
@@ -89,15 +89,11 @@ class AS5600
 public:
   AS5600(TwoWire *wire = &Wire);
 
-#if defined (ESP8266) || defined(ESP32) || defined(ARDUINO_ARCH_STM32)
-  //  AS5600_SW_DIRECTION_PIN is software controlled direction pin
-  bool     begin(int dataPin, int clockPin, uint8_t directionPin = AS5600_SW_DIRECTION_PIN);
-#endif
-
   bool     begin(uint8_t directionPin = AS5600_SW_DIRECTION_PIN);
   bool     isConnected();
 
-  //  address = 0x36 for AS5600, 0x40 for AS5600L
+  //  address = fixed   0x36 for AS5600, 
+  //          = default 0x40 for AS5600L
   uint8_t  getAddress();
 
 
diff --git a/CHANGELOG.md b/CHANGELOG.md
index 11e0a1d..a26d1d4 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -5,12 +5,20 @@ The format is based on [Keep a Changelog](http://keepachangelog.com/)
 and this project adheres to [Semantic Versioning](http://semver.org/).
 
 
+## [0.5.0] - 2023-12-07
+- refactor API, begin()
+- update readme.md
+- update examples
+- add examples
+- patch library.properties  =>  category=Sensors
+
+----
+
 ## [0.4.1] - 2023-09-16
 - fix #45 support STM32 set I2C pins  ARDUINO_ARCH_STM32
 - update readme badges
 - minor edits
 
-
 ## [0.4.0] - 2023-06-27
 - fix #39 support for Wire2 on ESP32
 - update readme.md
diff --git a/README.md b/README.md
index 0ada705..7349054 100644
--- a/README.md
+++ b/README.md
@@ -36,6 +36,15 @@ or fluctuating power supply.
 Please share your experiences.
 
 
+#### 0.5.0 Breaking change
+
+Version 0.5.0 introduced a breaking change.
+You cannot set the pins in **begin()** any more.
+This reduces the dependency of processor dependent Wire implementations.
+The user has to call **Wire.begin()** and can optionally set the Wire pins 
+before calling **begin()**.
+
+
 #### Related libraries
 
 - https://github.com/RobTillaart/Angle
@@ -159,11 +168,17 @@ When polling the AS5600 with an ESP32 to measure RPM an issue has been reported.
 See https://github.com/RobTillaart/AS5600/issues/28
 
 The problem is that the ESP32 can be blocking for up to one second if there is a
-problem in the connection with the sensor. Using **setWireTimeout()** does not seem
-to solve the problem (2023-01-31). In the issue the goal was to measure the turns 
-of a rotating device at around 3800 RPM. To do this one need roughly 1 angle measurement
-per 5 milliseconds. 
-which  
+problem in the connection with the sensor. 
+Using **setWireTimeout()** does not seem to solve the problem (2023-01-31). 
+In the issue the goal was to measure the turns of a rotating device at around 3800 RPM.
+
+3800 RPM == 64 rounds / second.
+
+To measure speed one need at least 3 angle measurements per rotation.
+This results in at least 192 measurements per second which is about 1 per 5 milliseconds.
+
+Given that the ESP32 can block for a second, it can not be guaranteed to be up to date.
+Not for speed, but also not for total number of rotations.
 
 
 ## Interface
diff --git a/examples/AS5600L_set_address/AS5600L_set_address.ino b/examples/AS5600L_set_address/AS5600L_set_address.ino
index c9a0e5e..54057b5 100644
--- a/examples/AS5600L_set_address/AS5600L_set_address.ino
+++ b/examples/AS5600L_set_address/AS5600L_set_address.ino
@@ -2,7 +2,6 @@
 //    FILE: AS5600L_set_address.ino
 //  AUTHOR: Rob Tillaart
 // PURPOSE: demo
-//    DATE: 2022-08-30
 
 
 #include "AS5600.h"
@@ -21,7 +20,7 @@ void setup()
   Wire.begin();
 
   ASL.begin(4);  //  set direction pin.
-  ASL.setDirection(AS5600_CLOCK_WISE);  // default, just be explicit.
+  ASL.setDirection(AS5600_CLOCK_WISE);  //  default, just be explicit.
   int b = ASL.isConnected();
   Serial.print("Connect: ");
   Serial.println(b);
@@ -48,4 +47,4 @@ void loop()
 }
 
 
-// -- END OF FILE --
+//  -- END OF FILE --
diff --git a/examples/AS5600_I2C_frequency/AS5600_I2C_frequency.ino b/examples/AS5600_I2C_frequency/AS5600_I2C_frequency.ino
index df84b3b..0510a51 100644
--- a/examples/AS5600_I2C_frequency/AS5600_I2C_frequency.ino
+++ b/examples/AS5600_I2C_frequency/AS5600_I2C_frequency.ino
@@ -2,18 +2,18 @@
 //    FILE: AS5600_I2C_frequency.ino
 //  AUTHOR: Rob Tillaart
 // PURPOSE: demo
-//    DATE: 2022-05-28
 
 
 #include "AS5600.h"
 #include "Wire.h"
 
-AS5600 as5600;   //  use default Wire
+AS5600L as5600;   //  use default Wire
 
 uint32_t clk = 0;
 
 uint32_t start, stop;
 
+
 void setup()
 {
   Serial.begin(115200);
@@ -23,13 +23,10 @@ void setup()
 
   Wire.begin();
 
-  //  UNO
   as5600.begin(4);  //  set direction pin.
-  //  ESP32
-  //  as5600.begin(14, 15);     //  no direction pin.
   //  as5600.setAddress(0x40);  //  AS5600L only
 
-  as5600.setDirection(AS5600_CLOCK_WISE);  // default, just be explicit.
+  as5600.setDirection(AS5600_CLOCK_WISE);  //  default, just be explicit.
   int b = as5600.isConnected();
   Serial.print("Connect: ");
   Serial.println(b);
diff --git a/examples/AS5600_angular_speed/AS5600_angular_speed.ino b/examples/AS5600_angular_speed/AS5600_angular_speed.ino
index da1f273..bdcde29 100644
--- a/examples/AS5600_angular_speed/AS5600_angular_speed.ino
+++ b/examples/AS5600_angular_speed/AS5600_angular_speed.ino
@@ -2,13 +2,12 @@
 //    FILE: AS5600_angular_speed.ino
 //  AUTHOR: Rob Tillaart
 // PURPOSE: demo
-//    DATE: 2022-06-02
 
 
 #include "AS5600.h"
 #include "Wire.h"
 
-AS5600 as5600;   //  use default Wire
+AS5600L as5600;   //  use default Wire
 
 
 void setup()
@@ -21,7 +20,7 @@ void setup()
   Wire.begin();
 
   as5600.begin(4);  //  set direction pin.
-  as5600.setDirection(AS5600_CLOCK_WISE);  // default, just be explicit.
+  as5600.setDirection(AS5600_CLOCK_WISE);  //  default, just be explicit.
 
   Serial.println(as5600.getAddress());
 
@@ -39,10 +38,10 @@ void loop()
 {
   //  Serial.print("\ta = ");
   //  Serial.print(as5600.readAngle());
-  Serial.print("\tω = ");
+  //  Serial.print("\tω = ");
   Serial.println(as5600.getAngularSpeed());
-  delay(100);
+  delay(25);
 }
 
 
-// -- END OF FILE --
+//  -- END OF FILE --
diff --git a/examples/AS5600_angular_speed_RPM/AS5600_angular_speed_RPM.ino b/examples/AS5600_angular_speed_RPM/AS5600_angular_speed_RPM.ino
index d927b42..d733eb0 100644
--- a/examples/AS5600_angular_speed_RPM/AS5600_angular_speed_RPM.ino
+++ b/examples/AS5600_angular_speed_RPM/AS5600_angular_speed_RPM.ino
@@ -2,7 +2,6 @@
 //    FILE: AS5600_angular_speed_RPM.ino
 //  AUTHOR: Rob Tillaart
 // PURPOSE: demo
-//    DATE: 2022-06-02
 
 
 #include "AS5600.h"
@@ -19,13 +18,13 @@ void setup()
   Serial.println(AS5600_LIB_VERSION);
 
   Wire.begin();
-  //  as5600.begin(14,15);
+
   as5600.begin(4);  //  set direction pin.
-  as5600.setDirection(AS5600_CLOCK_WISE);  // default, just be explicit.
+  as5600.setDirection(AS5600_CLOCK_WISE);  //  default, just be explicit.
 
   Serial.println(as5600.getAddress());
 
-  // as5600.setAddress(0x40);  // AS5600L only
+  // as5600.setAddress(0x40);  //  AS5600L only
 
   int b = as5600.isConnected();
   Serial.print("Connect: ");
@@ -45,4 +44,4 @@ void loop()
 }
 
 
-// -- END OF FILE --
+//  -- END OF FILE --
diff --git a/examples/AS5600_burn_conf_mang/AS5600_burn_conf_mang.ino b/examples/AS5600_burn_conf_mang/AS5600_burn_conf_mang.ino
index f814181..13ba3c7 100644
--- a/examples/AS5600_burn_conf_mang/AS5600_burn_conf_mang.ino
+++ b/examples/AS5600_burn_conf_mang/AS5600_burn_conf_mang.ino
@@ -2,7 +2,6 @@
 //    FILE: AS5600_burn_conf_mang.ino
 //  AUTHOR: Rob Tillaart
 // PURPOSE: demo (not tested yet - see issue #38)
-//    DATE: 2023-06-18
 
 
 //  WARNING
@@ -31,11 +30,10 @@ void setup()
   Serial.print("AS5600_LIB_VERSION: ");
   Serial.println(AS5600_LIB_VERSION);
 
-  //  ESP32
-  //  as5600.begin(14, 15);
-  //  AVR
+  Wire.begin();
+
   as5600.begin(4);  //  set direction pin.
-  as5600.setDirection(AS5600_CLOCK_WISE);  // default, just be explicit.
+  as5600.setDirection(AS5600_CLOCK_WISE);  //  default, just be explicit.
 
   if (as5600.isConnected())
   {
@@ -172,4 +170,4 @@ void burn_mang()
 }
 
 
-// -- END OF FILE --
+//  -- END OF FILE --
diff --git a/examples/AS5600_burn_zpos/AS5600_burn_zpos.ino b/examples/AS5600_burn_zpos/AS5600_burn_zpos.ino
index 8a3a0d9..0360442 100644
--- a/examples/AS5600_burn_zpos/AS5600_burn_zpos.ino
+++ b/examples/AS5600_burn_zpos/AS5600_burn_zpos.ino
@@ -2,7 +2,6 @@
 //    FILE: AS5600_burn_zpos.ino
 //  AUTHOR: Rob Tillaart
 // PURPOSE: demo (not tested yet - see issue #38)
-//    DATE: 2023-06-18
 
 
 //  WARNING
@@ -31,11 +30,10 @@ void setup()
   Serial.print("AS5600_LIB_VERSION: ");
   Serial.println(AS5600_LIB_VERSION);
 
-  //  ESP32
-  //  as5600.begin(14, 15);
-  //  AVR
+  Wire.begin();
+
   as5600.begin(4);  //  set direction pin.
-  as5600.setDirection(AS5600_CLOCK_WISE);  // default, just be explicit.
+  as5600.setDirection(AS5600_CLOCK_WISE);  //  default, just be explicit.
 
   if (as5600.isConnected())
   {
@@ -111,4 +109,4 @@ void burn_zpos()
 
 
 
-// -- END OF FILE --
+//  -- END OF FILE --
diff --git a/examples/AS5600_demo/AS5600_demo.ino b/examples/AS5600_demo/AS5600_demo.ino
index d41377b..78f10fb 100644
--- a/examples/AS5600_demo/AS5600_demo.ino
+++ b/examples/AS5600_demo/AS5600_demo.ino
@@ -2,13 +2,12 @@
 //    FILE: AS5600_demo.ino
 //  AUTHOR: Rob Tillaart
 // PURPOSE: demo
-//    DATE: 2022-05-28
 
 
 #include "AS5600.h"
 #include "Wire.h"
 
-AS5600 as5600;   //  use default Wire
+AS5600L as5600;   //  use default Wire
 
 
 void setup()
@@ -17,12 +16,11 @@ void setup()
   Serial.println(__FILE__);
   Serial.print("AS5600_LIB_VERSION: ");
   Serial.println(AS5600_LIB_VERSION);
+  
+  Wire.begin();
 
-  //  ESP32
-  //  as5600.begin(14,15);
-  //  AVR
   as5600.begin(4);  //  set direction pin.
-  as5600.setDirection(AS5600_CLOCK_WISE);  // default, just be explicit.
+  as5600.setDirection(AS5600_CLOCK_WISE);  //  default, just be explicit.
   int b = as5600.isConnected();
   Serial.print("Connect: ");
   Serial.println(b);
@@ -43,4 +41,4 @@ void loop()
 }
 
 
-// -- END OF FILE --
+//  -- END OF FILE --
diff --git a/examples/AS5600_demo_ESP32/.arduino-ci.yml b/examples/AS5600_demo_ESP32/.arduino-ci.yml
new file mode 100644
index 0000000..e1c447b
--- /dev/null
+++ b/examples/AS5600_demo_ESP32/.arduino-ci.yml
@@ -0,0 +1,28 @@
+platforms:
+  rpipico:
+    board: rp2040:rp2040:rpipico
+    package: rp2040:rp2040
+    gcc:
+      features:
+      defines:
+        - ARDUINO_ARCH_RP2040
+      warnings:
+      flags:
+
+packages:
+  rp2040:rp2040:
+    url: https://github.com/earlephilhower/arduino-pico/releases/download/global/package_rp2040_index.json
+
+compile:
+  # Choosing to run compilation tests on 2 different Arduino platforms
+  platforms:
+    # - uno
+    # - due
+    # - zero
+    # - leonardo
+    # - m4
+    - esp32
+    # - esp8266
+    # - mega2560
+    # - rpipico
+
diff --git a/examples/AS5600_demo_ESP32/AS5600_demo_ESP32.ino b/examples/AS5600_demo_ESP32/AS5600_demo_ESP32.ino
new file mode 100644
index 0000000..a3ba5c2
--- /dev/null
+++ b/examples/AS5600_demo_ESP32/AS5600_demo_ESP32.ino
@@ -0,0 +1,44 @@
+//
+//    FILE: AS5600_demo.ino
+//  AUTHOR: Rob Tillaart
+// PURPOSE: demo
+
+
+#include "AS5600.h"
+#include "Wire.h"
+
+AS5600L as5600;   //  use default Wire
+
+
+void setup()
+{
+  Serial.begin(115200);
+  Serial.println(__FILE__);
+  Serial.print("AS5600_LIB_VERSION: ");
+  Serial.println(AS5600_LIB_VERSION);
+
+  Wire.begin(14, 15);
+  
+  as5600.begin(4);  //  set direction pin.
+  as5600.setDirection(AS5600_CLOCK_WISE);  //  default, just be explicit.
+  int b = as5600.isConnected();
+  Serial.print("Connect: ");
+  Serial.println(b);
+  delay(1000);
+}
+
+
+void loop()
+{
+  //  Serial.print(millis());
+  //  Serial.print("\t");
+  Serial.print(as5600.readAngle());
+  Serial.print("\t");
+  Serial.println(as5600.rawAngle());
+  //  Serial.println(as5600.rawAngle() * AS5600_RAW_TO_DEGREES);
+
+  delay(1000);
+}
+
+
+//  -- END OF FILE --
diff --git a/examples/AS5600_demo_RP2040/.arduino-ci.yml b/examples/AS5600_demo_RP2040/.arduino-ci.yml
new file mode 100644
index 0000000..534b5e3
--- /dev/null
+++ b/examples/AS5600_demo_RP2040/.arduino-ci.yml
@@ -0,0 +1,28 @@
+platforms:
+  rpipico:
+    board: rp2040:rp2040:rpipico
+    package: rp2040:rp2040
+    gcc:
+      features:
+      defines:
+        - ARDUINO_ARCH_RP2040
+      warnings:
+      flags:
+
+packages:
+  rp2040:rp2040:
+    url: https://github.com/earlephilhower/arduino-pico/releases/download/global/package_rp2040_index.json
+
+compile:
+  # Choosing to run compilation tests on 2 different Arduino platforms
+  platforms:
+    # - uno
+    # - due
+    # - zero
+    # - leonardo
+    # - m4
+    # - esp32
+    # - esp8266
+    # - mega2560
+    - rpipico
+
diff --git a/examples/AS5600_demo_RP2040/AS5600_demo_RP2040.ino b/examples/AS5600_demo_RP2040/AS5600_demo_RP2040.ino
new file mode 100644
index 0000000..49ac9dc
--- /dev/null
+++ b/examples/AS5600_demo_RP2040/AS5600_demo_RP2040.ino
@@ -0,0 +1,46 @@
+//
+//    FILE: AS5600_demo.ino
+//  AUTHOR: Rob Tillaart
+// PURPOSE: demo
+
+
+#include "AS5600.h"
+#include "Wire.h"
+
+AS5600L as5600;   //  use default Wire
+
+
+void setup()
+{
+  Serial.begin(115200);
+  Serial.println(__FILE__);
+  Serial.print("AS5600_LIB_VERSION: ");
+  Serial.println(AS5600_LIB_VERSION);
+
+  Wire.setSDA(14);
+  Wire.setSCL(15);
+  Wire.begin();
+
+  as5600.begin(4);  //  set direction pin.
+  as5600.setDirection(AS5600_CLOCK_WISE);  //  default, just be explicit.
+  int b = as5600.isConnected();
+  Serial.print("Connect: ");
+  Serial.println(b);
+  delay(1000);
+}
+
+
+void loop()
+{
+  //  Serial.print(millis());
+  //  Serial.print("\t");
+  Serial.print(as5600.readAngle());
+  Serial.print("\t");
+  Serial.println(as5600.rawAngle());
+  //  Serial.println(as5600.rawAngle() * AS5600_RAW_TO_DEGREES);
+
+  delay(1000);
+}
+
+
+//  -- END OF FILE --
diff --git a/examples/AS5600_demo_STM32/.arduino-ci.yml b/examples/AS5600_demo_STM32/.arduino-ci.yml
new file mode 100644
index 0000000..783ab31
--- /dev/null
+++ b/examples/AS5600_demo_STM32/.arduino-ci.yml
@@ -0,0 +1,28 @@
+platforms:
+  rpipico:
+    board: rp2040:rp2040:rpipico
+    package: rp2040:rp2040
+    gcc:
+      features:
+      defines:
+        - ARDUINO_ARCH_RP2040
+      warnings:
+      flags:
+
+packages:
+  rp2040:rp2040:
+    url: https://github.com/earlephilhower/arduino-pico/releases/download/global/package_rp2040_index.json
+
+compile:
+  # Choosing to run compilation tests on 2 different Arduino platforms
+  platforms:
+    # - uno
+    # - due
+    # - zero
+    # - leonardo
+    # - m4
+    # - esp32
+    # - esp8266
+    # - mega2560
+    # - rpipico
+
diff --git a/examples/AS5600_demo_STM32/AS5600_demo_STM32.ino b/examples/AS5600_demo_STM32/AS5600_demo_STM32.ino
new file mode 100644
index 0000000..999860e
--- /dev/null
+++ b/examples/AS5600_demo_STM32/AS5600_demo_STM32.ino
@@ -0,0 +1,47 @@
+//
+//    FILE: AS5600_demo.ino
+//  AUTHOR: Rob Tillaart
+// PURPOSE: demo
+//
+//  tested compilation with Nucleo-64
+
+#include "AS5600.h"
+#include "Wire.h"
+
+AS5600L as5600;   //  use default Wire
+
+
+void setup()
+{
+  Serial.begin(115200);
+  Serial.println(__FILE__);
+  Serial.print("AS5600_LIB_VERSION: ");
+  Serial.println(AS5600_LIB_VERSION);
+
+  Wire.setSDA(14);
+  Wire.setSCL(15);
+  Wire.begin();
+
+  as5600.begin(4);  //  set direction pin.
+  as5600.setDirection(AS5600_CLOCK_WISE);  //  default, just be explicit.
+  int b = as5600.isConnected();
+  Serial.print("Connect: ");
+  Serial.println(b);
+  delay(1000);
+}
+
+
+void loop()
+{
+  //  Serial.print(millis());
+  //  Serial.print("\t");
+  Serial.print(as5600.readAngle());
+  Serial.print("\t");
+  Serial.println(as5600.rawAngle());
+  //  Serial.println(as5600.rawAngle() * AS5600_RAW_TO_DEGREES);
+
+  delay(1000);
+}
+
+
+//  -- END OF FILE --
diff --git a/examples/AS5600_demo_offset/AS5600_demo_offset.ino b/examples/AS5600_demo_offset/AS5600_demo_offset.ino
index 158d646..c6c7c1a 100644
--- a/examples/AS5600_demo_offset/AS5600_demo_offset.ino
+++ b/examples/AS5600_demo_offset/AS5600_demo_offset.ino
@@ -20,7 +20,7 @@ void setup()
   Wire.begin();
 
   as5600.begin(4);  //  set direction pin.
-  as5600.setDirection(AS5600_CLOCK_WISE);  // default, just be explicit.
+  as5600.setDirection(AS5600_CLOCK_WISE);  //  default, just be explicit.
 }
 
 
@@ -45,4 +45,4 @@ void loop()
 }
 
 
-// -- END OF FILE --
+//  -- END OF FILE --
diff --git a/examples/AS5600_demo_radians/AS5600_demo_radians.ino b/examples/AS5600_demo_radians/AS5600_demo_radians.ino
index 3c7d363..6f75716 100644
--- a/examples/AS5600_demo_radians/AS5600_demo_radians.ino
+++ b/examples/AS5600_demo_radians/AS5600_demo_radians.ino
@@ -19,9 +19,8 @@ void setup()
 
   Wire.begin();
 
-  //  as5600.begin(11, 12, 4);  //  test for STM32 or ESP32
   as5600.begin(4);  //  set direction pin.
-  as5600.setDirection(AS5600_CLOCK_WISE);  // default, just be explicit.
+  as5600.setDirection(AS5600_CLOCK_WISE);  //  default, just be explicit.
 }
 
 
@@ -37,4 +36,4 @@ void loop()
 }
 
 
-// -- END OF FILE --
+//  -- END OF FILE --
diff --git a/examples/AS5600_demo_software_direction/AS5600_demo_software_direction.ino b/examples/AS5600_demo_software_direction/AS5600_demo_software_direction.ino
index 25bab2b..fe23b1f 100644
--- a/examples/AS5600_demo_software_direction/AS5600_demo_software_direction.ino
+++ b/examples/AS5600_demo_software_direction/AS5600_demo_software_direction.ino
@@ -4,7 +4,7 @@
 // PURPOSE: demo software direction control
 
 
-//  connect the DIR pin of teh AS5600 to GND
+//  connect the DIR pin of the AS5600 to GND
 
 
 #include "AS5600.h"
@@ -24,7 +24,7 @@ void setup()
   Wire.begin();
 
   as5600.begin();      //  set software direction control. default param = 255
-  as5600.setDirection(AS5600_CLOCK_WISE);  // default, just be explicit.
+  as5600.setDirection(AS5600_CLOCK_WISE);  //  default, just be explicit.
 }
 
 
@@ -48,4 +48,4 @@ void loop()
 }
 
 
-// -- END OF FILE --
+//  -- END OF FILE --
diff --git a/examples/AS5600_demo_status/AS5600_demo_status.ino b/examples/AS5600_demo_status/AS5600_demo_status.ino
index 096caa7..2430b49 100644
--- a/examples/AS5600_demo_status/AS5600_demo_status.ino
+++ b/examples/AS5600_demo_status/AS5600_demo_status.ino
@@ -2,7 +2,6 @@
 //    FILE: AS5600_demo_status.ino
 //  AUTHOR: Rob Tillaart
 // PURPOSE: demo
-//    DATE: 2022-05-28
 
 
 #include "AS5600.h"
@@ -21,7 +20,7 @@ void setup()
   Wire.begin();
 
   as5600.begin(4);  //  set direction pin.
-  as5600.setDirection(AS5600_CLOCK_WISE);  // default, just be explicit.
+  as5600.setDirection(AS5600_CLOCK_WISE);  //  default, just be explicit.
 }
 
 
@@ -47,4 +46,4 @@ void loop()
 }
 
 
-// -- END OF FILE --
+//  -- END OF FILE --
diff --git a/examples/AS5600_demo_two_I2C/AS5600_demo_two_I2C.ino b/examples/AS5600_demo_two_I2C/AS5600_demo_two_I2C.ino
index 444f808..4103bea 100644
--- a/examples/AS5600_demo_two_I2C/AS5600_demo_two_I2C.ino
+++ b/examples/AS5600_demo_two_I2C/AS5600_demo_two_I2C.ino
@@ -2,11 +2,11 @@
 //    FILE: AS5600_demo_two_I2C.ino
 //  AUTHOR: Rob Tillaart
 // PURPOSE: demo two I2C busses
-//    DATE: 2023-03-07
 //
-//  Works only if Wire1 bus is present
+//  Works only if Wire1 bus is present e.g.
 //  - nano33 ble
 //  - teensy 4.1
+//  - RP2040
 
 
 #include "AS5600.h"
@@ -23,6 +23,9 @@ void setup()
   Serial.print("AS5600_LIB_VERSION: ");
   Serial.println(AS5600_LIB_VERSION);
 
+  Wire.begin();
+  Wire1.begin();
+
   as5600_0.begin(4);  //  set direction pin.
   as5600_0.setDirection(AS5600_CLOCK_WISE);
   Serial.print("Connect device 0: ");
diff --git a/examples/AS5600_outmode_analog_100/AS5600_outmode_analog_100.ino b/examples/AS5600_outmode_analog_100/AS5600_outmode_analog_100.ino
index 4570d27..e6ec10b 100644
--- a/examples/AS5600_outmode_analog_100/AS5600_outmode_analog_100.ino
+++ b/examples/AS5600_outmode_analog_100/AS5600_outmode_analog_100.ino
@@ -22,7 +22,7 @@ void setup()
   Wire.begin();
 
   as5600.begin(4);  //  set direction pin.
-  as5600.setDirection(AS5600_CLOCK_WISE);  // default, just be explicit.
+  as5600.setDirection(AS5600_CLOCK_WISE);  //  default, just be explicit.
   as5600.setOutputMode(AS5600_OUTMODE_ANALOG_100);
 }
 
@@ -39,4 +39,4 @@ void loop()
 }
 
 
-// -- END OF FILE --
+//  -- END OF FILE --
diff --git a/examples/AS5600_outmode_analog_90/AS5600_outmode_analog_90.ino b/examples/AS5600_outmode_analog_90/AS5600_outmode_analog_90.ino
index eb5438c..f1662b3 100644
--- a/examples/AS5600_outmode_analog_90/AS5600_outmode_analog_90.ino
+++ b/examples/AS5600_outmode_analog_90/AS5600_outmode_analog_90.ino
@@ -22,7 +22,7 @@ void setup()
   Wire.begin();
 
   as5600.begin(4);  //  set direction pin.
-  as5600.setDirection(AS5600_CLOCK_WISE);  // default, just be explicit.
+  as5600.setDirection(AS5600_CLOCK_WISE);  //  default, just be explicit.
   as5600.setOutputMode(AS5600_OUTMODE_ANALOG_90);
 }
 
@@ -39,4 +39,4 @@ void loop()
 }
 
 
-// -- END OF FILE --
+//  -- END OF FILE --
diff --git a/examples/AS5600_outmode_analog_pwm/AS5600_outmode_analog_pwm.ino b/examples/AS5600_outmode_analog_pwm/AS5600_outmode_analog_pwm.ino
index 2e92776..f68b199 100644
--- a/examples/AS5600_outmode_analog_pwm/AS5600_outmode_analog_pwm.ino
+++ b/examples/AS5600_outmode_analog_pwm/AS5600_outmode_analog_pwm.ino
@@ -28,7 +28,7 @@ void setup()
   Wire.begin();
 
   as5600.begin(4);  //  set direction pin.
-  as5600.setDirection(AS5600_CLOCK_WISE);  // default, just be explicit.
+  as5600.setDirection(AS5600_CLOCK_WISE);  //  default, just be explicit.
   as5600.setOutputMode(AS5600_OUTMODE_PWM);
   as5600.setPWMFrequency(AS5600_PWM_920);
 }
@@ -46,4 +46,4 @@ void loop()
 }
 
 
-// -- END OF FILE --
+//  -- END OF FILE --
diff --git a/examples/AS5600_outmode_pwm_interrupt/AS5600_outmode_pwm_interrupt.ino b/examples/AS5600_outmode_pwm_interrupt/AS5600_outmode_pwm_interrupt.ino
index 34cd132..dca2142 100644
--- a/examples/AS5600_outmode_pwm_interrupt/AS5600_outmode_pwm_interrupt.ino
+++ b/examples/AS5600_outmode_pwm_interrupt/AS5600_outmode_pwm_interrupt.ino
@@ -2,7 +2,6 @@
 //    FILE: AS5600_outmode_pwm_interrupt.ino
 //  AUTHOR: Rob Tillaart
 // PURPOSE: demo
-//    DATE: 2022-05-28
 
 
 #include "AS5600.h"
@@ -57,4 +56,4 @@ void loop()
 }
 
 
-// -- END OF FILE --
+//  -- END OF FILE --
diff --git a/examples/AS5600_plus_AS5600L/AS5600_plus_AS5600L.ino b/examples/AS5600_plus_AS5600L/AS5600_plus_AS5600L.ino
new file mode 100644
index 0000000..c7ba1f9
--- /dev/null
+++ b/examples/AS5600_plus_AS5600L/AS5600_plus_AS5600L.ino
@@ -0,0 +1,98 @@
+//    FILE: AS5600_plus_AS5600L.ino
+//  AUTHOR: laptophead
+// PURPOSE: showing working of a AS5600 and AS5600L side by side
+//     URL: https://github.com/RobTillaart/AS5600
+//     URL: https://github.com/RobTillaart/AS5600/issues/48
+
+
+#include "AS5600.h"
+#include "Wire.h"
+
+AS5600 as5600_R;    //  uses default Wire
+AS5600L as5600_L;   //  uses default Wire
+
+int Raw_R;
+int Raw_Prev;
+
+float Deg_R,  Deg_L;
+float Deg_Prev_R, Deg_Prev_L;
+
+static uint32_t lastTime = 0;
+
+
+void setup()
+{
+  Serial.begin(230400);
+  Serial.println(__FILE__);
+  Serial.print("AS5600_LIB_VERSION: ");
+  Serial.println(AS5600_LIB_VERSION);
+  
+  Wire.begin();
+  
+  // as5600_L.setAddress(0x40);  // AS5600L only
+  as5600_L.begin(15);  //  set direction pin.
+  as5600_L.setDirection(AS5600_CLOCK_WISE);  //
+  delay(1000);
+  
+  as5600_R.begin(14);  //  set direction pin.
+  as5600_R.setDirection(AS5600_CLOCK_WISE);  // default, just be explicit.
+
+  delay(1000);
+  Serial.print ("Address For AS5600 R ");
+  Serial.println(as5600_R.getAddress());
+  Serial.print ("Address For AS5600 L ");
+  Serial.println(as5600_L.getAddress());
+
+  Serial.print("Connect_R: ");
+  Serial.println(as5600_R.isConnected() ? "true" : "false");
+
+  Serial.print("Connect device LEFT: ");
+  Serial.println(as5600_L.isConnected() ? "true" : "false");
+
+  delay(1000);
+  as5600_R.resetPosition();
+  as5600_L.resetPosition();
+}
+
+
+void loop()
+{
+  Deg_R = convertRawAngleToDegrees(as5600_R.getCumulativePosition());
+  Deg_L = convertRawAngleToDegrees(as5600_L.getCumulativePosition());
+  //  update every 100 ms
+  //  should be enough up to ~200 RPM
+  if (millis() - lastTime >= 100 and Deg_R != Deg_Prev_R)
+  {
+    lastTime = millis();
+
+    Serial.println("REV R: " + String(as5600_R.getRevolutions()));
+    Serial.println("REV L: " + String(as5600_L.getRevolutions()));
+    Serial.println("DEG R= " + String(Deg_R, 0) + "°" );
+    Serial.println("DEG L= " + String(Deg_L, 0) + "°" );
+    Deg_Prev_R = Deg_R;
+  }
+
+  //  just to show how reset can be used
+  if (as5600_R.getRevolutions() >= 1 )
+  {
+    as5600_R.resetPosition();
+
+    if ( as5600_R.getRevolutions() <= -1 )
+    {
+      as5600_R.resetPosition();
+    }
+  }
+}
+
+
+float convertRawAngleToDegrees(uint32_t newAngle)
+{
+  /* Raw data reports 0 - 4095 segments, which is 0.087890625 of a degree */
+  float retVal = newAngle * 0.087890625;
+  retVal = round(retVal);
+  // retVal=retVal/10;
+  return retVal;
+}
+
+
+//  -- END OF FILE --
diff --git a/examples/AS5600_position/AS5600_position.ino b/examples/AS5600_position/AS5600_position.ino
index 345a1c7..6c9e740 100644
--- a/examples/AS5600_position/AS5600_position.ino
+++ b/examples/AS5600_position/AS5600_position.ino
@@ -2,7 +2,6 @@
 //    FILE: AS5600_position.ino
 //  AUTHOR: Rob Tillaart
 // PURPOSE: demo
-//    DATE: 2022-12-20
 
 
 #include "AS5600.h"
@@ -18,15 +17,14 @@ void setup()
   Serial.print("AS5600_LIB_VERSION: ");
   Serial.println(AS5600_LIB_VERSION);
 
-  //  ESP32
-  //  as5600.begin(14, 15);
-  //  AVR
+  Wire.begin();
+
   as5600.begin(4);  //  set direction pin.
-  as5600.setDirection(AS5600_CLOCK_WISE);  // default, just be explicit.
+  as5600.setDirection(AS5600_CLOCK_WISE);  //  default, just be explicit.
 
   Serial.println(as5600.getAddress());
 
-  //  as5600.setAddress(0x40);  // AS5600L only
+  //  as5600.setAddress(0x40);  //  AS5600L only
 
   int b = as5600.isConnected();
   Serial.print("Connect: ");
@@ -61,4 +59,4 @@ void loop()
 }
 
 
-// -- END OF FILE --
+//  -- END OF FILE --
diff --git a/examples/AS5600_resetCumulativeCounter/AS5600_resetCumulativeCounter.ino b/examples/AS5600_resetCumulativeCounter/AS5600_resetCumulativeCounter.ino
index b5f2543..da3823d 100644
--- a/examples/AS5600_resetCumulativeCounter/AS5600_resetCumulativeCounter.ino
+++ b/examples/AS5600_resetCumulativeCounter/AS5600_resetCumulativeCounter.ino
@@ -13,7 +13,13 @@ AS5600L as5600;   //  use default Wire
 void setup()
 {
   Serial.begin(115200);
-  as5600.begin(14, 15);      //  ESP32
+  Serial.println(__FILE__);
+  Serial.print("AS5600_LIB_VERSION: ");
+  Serial.println(AS5600_LIB_VERSION);
+  
+  Wire.begin(14, 15);      //  ESP32
+
+  as5600.begin();
   as5600.setAddress(0x40);   //  AS5600L has address
 
   as5600.setDirection(AS5600_CLOCK_WISE);  //  default, just be explicit.
diff --git a/library.json b/library.json
index 7710922..8adefd4 100644
--- a/library.json
+++ b/library.json
@@ -15,7 +15,7 @@
     "type": "git",
     "url": "https://github.com/RobTillaart/AS5600.git"
   },
-  "version": "0.4.1",
+  "version": "0.5.0",
   "license": "MIT",
   "frameworks": "*",
   "platforms": "*",
diff --git a/library.properties b/library.properties
index 4b88ad9..7328f24 100644
--- a/library.properties
+++ b/library.properties
@@ -1,10 +1,10 @@
 name=AS5600
-version=0.4.1
+version=0.5.0
 author=Rob Tillaart <rob.tillaart@gmail.com>
 maintainer=Rob Tillaart <rob.tillaart@gmail.com>
 sentence=Arduino library for AS5600 and AS5600L magnetic rotation meter.
 paragraph=
-category=Data Processing
+category=Sensors
 url=https://github.com/RobTillaart/AS5600
 architectures=*
 includes=AS5600.h
diff --git a/test/unit_test_001.cpp b/test/unit_test_001.cpp
index 913b963..26bb999 100644
--- a/test/unit_test_001.cpp
+++ b/test/unit_test_001.cpp
@@ -111,6 +111,9 @@ unittest(test_constants_configuration)
 unittest(test_constructor)
 {
   AS5600 as5600;
+
+  Wire.begin();
+
   as5600.begin(4);
   assertTrue(as5600.isConnected());  //  keep CI happy
 
@@ -123,6 +126,9 @@ unittest(test_constructor)
 unittest(test_address)
 {
   AS5600 as5600;
+
+  Wire.begin();
+
   as5600.begin(4);
   assertEqual(0x36, as5600.getAddress());
 
@@ -140,6 +146,8 @@ unittest(test_hardware_direction)
 {
   AS5600 as5600;
 
+  Wire.begin();
+
   as5600.begin(4);
   assertEqual(AS5600_CLOCK_WISE, as5600.getDirection());
 
@@ -158,6 +166,8 @@ unittest(test_software_direction)
 {
   AS5600 as5600;
 
+  Wire.begin();
+
   as5600.begin(255);
   assertEqual(AS5600_CLOCK_WISE, as5600.getDirection());
 
@@ -176,6 +186,8 @@ unittest(test_offset)
 {
   AS5600 as5600;
 
+  Wire.begin();
+
   as5600.begin();
 
   for (int of = 0; of < 360; of += 40)
@@ -202,6 +214,8 @@ unittest(test_failing_set_commands)
 {
   AS5600 as5600;
 
+  Wire.begin();
+
   as5600.begin();
 
   assertFalse(as5600.setZPosition(4096));
@@ -219,7 +233,7 @@ unittest(test_failing_set_commands)
 }
 
 
-// FOR REMAINING ONE NEED A STUB
+//  FOR REMAINING ONE NEED A STUB
 
 
 unittest_main()