remove default params from checkbus, encoder added empty update, bug in FOCMotor::electricalAngle

Author: askuric

src/BLDCMotor.cpp

@@ -209,6 +209,7 @@ int BLDCMotor::alignSensor() {
     // get the current zero electric angle
     zero_electric_angle = 0;
     zero_electric_angle = electricalAngle();
+    //zero_electric_angle =  _normalizeAngle(_electricalAngle(sensor_direction*sensor->getAngle(), pole_pairs));
     _delay(20);
     if(monitor_port){
       monitor_port->print(F("MOT: Zero elec. angle: "));

src/common/base_classes/FOCMotor.cpp

@@ -68,7 +68,7 @@ float FOCMotor::shaftVelocity() {
 float FOCMotor::electricalAngle(){
   // if no sensor linked return previous value ( for open loop )
   if(!sensor) return electrical_angle;
-  return sensor_direction * _normalizeAngle(sensor->getMechanicalAngle() * pole_pairs - zero_electric_angle);
+  return  _normalizeAngle( (float)(sensor_direction * pole_pairs) * sensor->getMechanicalAngle()  - zero_electric_angle );
 }
 
 /**

src/sensors/Encoder.cpp

@@ -98,6 +98,11 @@ void Encoder::handleIndex() {
   }
 }
 
+
+void Encoder::update() {
+    // do nothing for Encoder
+}
+
 /*
 	Shaft angle calculation
 */

src/sensors/Encoder.h

@@ -27,7 +27,7 @@ class Encoder: public Sensor{
     Encoder(int encA, int encB , float ppr, int index = 0);
 
     /** encoder initialise pins */
-    void init();
+    void init() override;
     /**
      *  function enabling hardware interrupts for the encoder channels with provided callback functions
      *  if callback is not provided then the interrupt is not enabled
@@ -67,6 +67,7 @@ class Encoder: public Sensor{
     float getAngle() override;
     double getPreciseAngle() override;
     int32_t getFullRotations() override;
+    virtual void update() override;
 
     /**
      * returns 0 if it does need search for absolute zero

src/sensors/MagneticSensorI2C.h

@@ -49,7 +49,7 @@ class MagneticSensorI2C: public Sensor{
     float getSensorAngle() override;
 
     /** experimental function to check and fix SDA locked LOW issues */
-    int checkBus(byte sda_pin = SDA, byte scl_pin = SCL);
+    int checkBus(byte sda_pin , byte scl_pin );
 
   private:
     float cpr; //!< Maximum range of the magnetic sensor