Merge pull request #297 from runger1101001/dev

Fix intialization of sensor direction

Author: runger1101001

src/BLDCMotor.cpp

@@ -92,6 +92,13 @@ void BLDCMotor::init() {
   }
   P_angle.limit = velocity_limit;
 
+  // if using open loop control, set a CW as the default direction if not already set
+  if ((controller==MotionControlType::angle_openloop
+     ||controller==MotionControlType::velocity_openloop)
+     && (sensor_direction == Direction::UNKNOWN)) {
+      sensor_direction = Direction::CW;
+  }
+
   _delay(500);
   // enable motor
   SIMPLEFOC_DEBUG("MOT: Enable driver.");

src/StepperMotor.cpp

@@ -56,6 +56,13 @@ void StepperMotor::init() {
   }
   P_angle.limit = velocity_limit;
 
+  // if using open loop control, set a CW as the default direction if not already set
+  if ((controller==MotionControlType::angle_openloop
+     ||controller==MotionControlType::velocity_openloop)
+     && (sensor_direction == Direction::UNKNOWN)) {
+      sensor_direction = Direction::CW;
+  }
+
   _delay(500);
   // enable motor
   SIMPLEFOC_DEBUG("MOT: Enable driver.");

src/common/base_classes/FOCMotor.h

@@ -205,7 +205,7 @@ class FOCMotor
     // sensor related variabels
     float sensor_offset; //!< user defined sensor zero offset
     float zero_electric_angle = NOT_SET;//!< absolute zero electric angle - if available
-    Direction sensor_direction = Direction::CW; //!< default is CW. if sensor_direction == Direction::CCW then direction will be flipped compared to CW. Set to UNKNOWN to set by calibration
+    Direction sensor_direction = Direction::UNKNOWN; //!< default is CW. if sensor_direction == Direction::CCW then direction will be flipped compared to CW. Set to UNKNOWN to set by calibration
 
     /**
      * Function providing BLDCMotor class with the