hall sensor fix simplefoc#192

Author: askuric

src/sensors/HallSensor.cpp

@@ -116,7 +116,10 @@ float HallSensor::getVelocity(){
   if (pulse_diff == 0 || ((long)(_micros() - pulse_timestamp) > pulse_diff) ) { // last velocity isn't accurate if too old
     return 0;
   } else {
-    return direction * (_2PI / (float)cpr) / (pulse_diff / 1000000.0f);
+    float vel = direction * (_2PI / (float)cpr) / (pulse_diff / 1000000.0f);
+    // quick fix https://github.com/simplefoc/Arduino-FOC/issues/192
+    if(vel < -velocity_max || vel > velocity_max)  vel = 0f;   //if velocity is out of range then make it zero
+    return vel;
   }
 
 }

src/sensors/HallSensor.h

@@ -76,6 +76,9 @@ class HallSensor: public Sensor{
     // this is sometimes useful to identify interrupt issues (e.g. weak or no pullup resulting in 1000s of interrupts)
     volatile long total_interrupts; 
 
+    // variable used to filter outliers - rad/s
+    float velocity_max = 1000.0f
+
   private:
 
     Direction decodeDirection(int oldState, int newState);