Removed thread-safety previous additions

Author: sylque

README.md

@@ -1,5 +1,4 @@
 *This fork adds the following features:*
-- *FOCMotor: thread-safe 'target' and 'controller' fields*
 - *BLDCMotor: make 'alignSensor()' virtual*
 - *Commander: allow contexts on onCommand callbacks*
 

src/common/base_classes/FOCMotor.h

@@ -1,8 +1,6 @@
 #ifndef FOCMOTOR_H
 #define FOCMOTOR_H
 
-#include <atomic>
-
 #include "Arduino.h"
 #include "Sensor.h"
 #include "CurrentSense.h"
@@ -152,7 +150,7 @@ class FOCMotor
     float electricalAngle();
 
     // state variables
-    std::atomic<float> target; //!< current target value - depends of the controller
+    float target; //!< current target value - depends of the controller
     float feed_forward_velocity = 0.0f; //!< current feed forward velocity
   	float shaft_angle;//!< current motor angle
   	float electrical_angle;//!< current electrical angle
@@ -192,7 +190,7 @@ class FOCMotor
 
     // configuration structures
     TorqueControlType torque_controller; //!< parameter determining the torque control type
-    std::atomic<MotionControlType> controller; //!< parameter determining the control loop to be used
+    MotionControlType controller; //!< parameter determining the control loop to be used
 
     // controllers and low pass filters
     PIDController PID_current_q{DEF_PID_CURR_P,DEF_PID_CURR_I,DEF_PID_CURR_D,DEF_PID_CURR_RAMP, DEF_POWER_SUPPLY};//!< parameter determining the q current PID config