motor init returns success

Author: askuric

examples/motion_control/open_loop_motor_control/open_loop_position_example/open_loop_position_example.ino

@@ -36,7 +36,10 @@ void setup() {
   // as a protection measure for the low-resistance motors
   // this value is fixed on startup
   driver.voltage_limit = 6;
-  driver.init();
+  if(!driver.init()){
+    Serial.println("Driver init failed!");
+    return;
+  }
   // link the motor and the driver
   motor.linkDriver(&driver);
 
@@ -52,7 +55,10 @@ void setup() {
   motor.controller = MotionControlType::angle_openloop;
 
   // init motor hardware
-  motor.init();
+  if(!motor.init()){
+    Serial.println("Motor init failed!");
+    return;
+  }
 
   // add target command T
   command.add('T', doTarget, "target angle");

examples/motion_control/open_loop_motor_control/open_loop_velocity_example/open_loop_velocity_example.ino

@@ -53,7 +53,10 @@ void setup() {
   motor.controller = MotionControlType::velocity_openloop;
 
   // init motor hardware
-  motor.init();
+  if(!motor.init()){
+    Serial.println("Motor init failed!");
+    return;
+  }
 
   // add target command T
   command.add('T', doTarget, "target velocity");

src/BLDCMotor.cpp

@@ -67,7 +67,7 @@ void BLDCMotor::init() {
   if (!driver || !driver->initialized) {
     motor_status = FOCMotorStatus::motor_init_failed;
     SIMPLEFOC_DEBUG("MOT: Init not possible, driver not initialized");
-    return;
+    return 0;
   }
   motor_status = FOCMotorStatus::motor_initializing;
   SIMPLEFOC_DEBUG("MOT: Init");
@@ -105,6 +105,7 @@ void BLDCMotor::init() {
   enable();
   _delay(500);
   motor_status = FOCMotorStatus::motor_uncalibrated;
+  return 1;
 }
 
 

src/BLDCMotor.h

@@ -40,7 +40,7 @@ class BLDCMotor: public FOCMotor
     BLDCDriver* driver; 
 
     /**  Motor hardware init function */
-  	void init() override;
+  	int init() override;
     /** Motor disable function */
   	void disable() override;
     /** Motor enable function */

src/StepperMotor.cpp

@@ -37,7 +37,7 @@ void StepperMotor::init() {
   if (!driver || !driver->initialized) {
     motor_status = FOCMotorStatus::motor_init_failed;
     SIMPLEFOC_DEBUG("MOT: Init not possible, driver not initialized");
-    return;
+    return 0;
   }
   motor_status = FOCMotorStatus::motor_initializing;
   SIMPLEFOC_DEBUG("MOT: Init");
@@ -70,6 +70,7 @@ void StepperMotor::init() {
   _delay(500);
 
   motor_status = FOCMotorStatus::motor_uncalibrated;
+  return 1;
 }
 
 

src/StepperMotor.h

@@ -43,7 +43,7 @@ class StepperMotor: public FOCMotor
     StepperDriver* driver; 
 
     /**  Motor hardware init function */
-  	void init() override;
+  	int init() override;
     /** Motor disable function */
   	void disable() override;
     /** Motor enable function */

src/common/base_classes/FOCMotor.h

@@ -78,7 +78,7 @@ class FOCMotor
     FOCMotor();
 
     /**  Motor hardware init function */
-  	virtual void init()=0;
+  	virtual int init()=0;
     /** Motor disable function */
   	virtual void disable()=0;
     /** Motor enable function */