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Fix intialization of sensor direction #297

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Merged
merged 2 commits into from
Jul 31, 2023
Merged

Fix intialization of sensor direction #297

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b3f2e96
initialize sensor direction open vs. closed loop
Jul 31, 2023
012608c
fix typo
Jul 31, 2023
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7 changes: 7 additions & 0 deletions src/BLDCMotor.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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.");
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7 changes: 7 additions & 0 deletions src/StepperMotor.cpp
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Expand Up @@ -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.");
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2 changes: 1 addition & 1 deletion src/common/base_classes/FOCMotor.h
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Expand Up @@ -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
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