setOffset() fails when called again

[fahadshihab]

The setOffset() function does not work as expected when called more than once after the program starts. This makes it difficult to zero again when the program is running.

The current workaround is to use setOffset() in conjunction with getOffset() but the user has to implement the math for it.

[RobTillaart]

Thanks for reporting the issue.
I will look into it later this week

The setOffset() function does not work as expected when called more than once after the program starts.

Can you elaborate, give examples what you expect?
e.g setOffset(0) should it remove all offset or not change the current offset?

[RobTillaart]

just a thought, do you need a function like

• increaseOffset(float degrees) increase or decrease the current offset with degrees

[fahadshihab]

Suppose, at system start, the encoder reads 200 degrees.
Then when setOffset(-200) is called, the encoder now reads 0 degrees.
Then the system is moved to, say, 30 degrees. The encoder now reads 30 degrees.
When setOffset(-30) is called, the encoder reads 200 degrees, instead of zero.

The problem is that the setOffset() function sets the offset value directly instead of taking into account that the offset has been previously set.

[fahadshihab]

Yes, something like increaseOffset() or setReference(float) could work.

setReference(float angle) could calculate the offset automatically and set the current encoder reading to angle. I feel it's a much more useful function when the readings must be reset multiple times in a program.

[RobTillaart]

@fahadshihab

I have created a develop branch which includes the increaseOffset() function.
Please verify if this meet your needs. If so I will merge it into version 0.5.1

[RobTillaart]

@fahadshihab
Did you verify the increaseOffset() function yet?

[fahadshihab]

Yup. This works. Thanks!