Fixed the bug in the getAngleSpeed function

[djaumann]

Fixed the bug inside the getAngleSpeed function mentioned in #15.

Was already tested on hardware by @9Volts9er.

[9Volts9er]

I've tested this with the TLE5012B MS2Go kit. It works perfectly fine now.

With numOfData = 0x5; the speed value had some strange values and did not react to speed changes. With numOfData = 0x6; it works as expected.

I even printed out the values of rawData[5]. As expected it gave me random-like numbers for numOfData = 0x5;, but with numOfData = 0x6; I always get 0x0801 which equals the correct standard configuration for the sensor (360° angle range and prediction disabled).

[akfheaven]

I try readAngleSpeedRevolutions.ino with IDLE motor.
But The angle_speed data seems get a lot of huge noise like my log below.
I don't know if it's only behavior on my chip..

init done!
AngleSpeed AngleValue revolutions AngleRange
0.00 -57.18 11 360.00
-385.94 -57.15 11 360.00
0.00 -57.08 11 360.00
0.00 -57.11 11 360.00
0.00 -57.12 11 360.00
0.00 -57.08 11 360.00
-128.65 -57.14 11 360.00
0.00 -57.11 11 360.00
-128.65 -57.17 11 360.00
0.00 -57.12 11 360.00
-128.65 -57.18 11 360.00
-128.65 -57.12 11 360.00
0.00 -57.17 11 360.00
257.29 -57.15 11 360.00
128.65 -57.13 11 360.00
0.00 -57.13 11 360.00
0.00 -57.17 11 360.00
-128.65 -57.10 11 360.00
-128.65 -57.24 11 360.00
0.00 -57.16 11 360.00
0.00 -57.10 11 360.00
0.00 -57.15 11 360.00
-128.65 -57.13 11 360.00
0.00 -57.15 11 360.00
0.00 -57.11 11 360.00
-128.65 -57.13 11 360.00
-257.29 -57.13 11 360.00
-128.65 -57.12 11 360.00
128.65 -57.22 11 360.00
0.00 -57.07 11 360.00
0.00 -57.14 11 360.00
0.00 -57.10 11 360.00
-128.65 -57.13 11 360.00
0.00 -57.17 11 360.00
0.00 -57.17 11 360.00

[9Volts9er]

The noise you see on the speed value is not unusually high. 128.65 °/s is equal to 1 LSB of the Speed register in the sensor.
So actually you have just a few LSB noise.
And for motor applications I think 128.65°/s = 21.44 RPM is not a very high speed.
But if this is too much for your application, you can average the value over multiple readouts, then the noise will decrease

[akfheaven]

@9Volts9er Thanks for the detailed explanation.