HybridStepper changes for 2.3.1 release

Author: Richard Unger

src/motors/HybridStepperMotor/HybridStepperMotor.cpp

@@ -94,25 +94,14 @@ void HybridStepperMotor::enable()
 }
 
 /**
-  FOC functions
-*/
-// FOC initialization function
-int HybridStepperMotor::initFOC(float zero_electric_offset, Direction _sensor_direction)
+ * FOC functions
+ */
+int HybridStepperMotor::initFOC()
 {
   int exit_flag = 1;
 
   motor_status = FOCMotorStatus::motor_calibrating;
 
-  // align motor if necessary
-  // alignment necessary for encoders!
-  if (_isset(zero_electric_offset))
-  {
-    // abosolute zero offset provided - no need to align
-    zero_electric_angle = zero_electric_offset;
-    // set the sensor direction - default CW
-    sensor_direction = _sensor_direction;
-  }
-
   // sensor and motor alignment - can be skipped
   // by setting motor.sensor_direction and motor.zero_electric_angle
   _delay(500);
@@ -148,8 +137,7 @@ int HybridStepperMotor::alignSensor()
   SIMPLEFOC_DEBUG("MOT: Align sensor.");
 
   // if unknown natural direction
-  if (!_isset(sensor_direction))
-  {
+  if(sensor_direction==Direction::UNKNOWN) {
     // check if sensor needs zero search
     if (sensor->needsSearch())
       exit_flag = absoluteZeroSearch();
@@ -411,8 +399,14 @@ void HybridStepperMotor::setPhaseVoltage(float Uq, float Ud, float angle_el)
   float _sa = _sin(angle_el);
   float center;
 
-  switch (foc_modulation)
-  {
+  switch (foc_modulation) {
+  case FOCModulationType::Trapezoid_120:
+  case FOCModulationType::Trapezoid_150:
+    // not handled
+    Ua = 0;
+    Ub = 0;
+    Uc = 0;
+    break;
   case FOCModulationType::SinePWM:
     // C phase is fixed at half-rail to provide bias point for A, B legs
     Ua = (_ca * Ud) - (_sa * Uq);

src/motors/HybridStepperMotor/HybridStepperMotor.h

@@ -51,14 +51,8 @@ class HybridStepperMotor : public FOCMotor
     /**
      * Function initializing FOC algorithm
      * and aligning sensor's and motors' zero position
-     *
-     * - If zero_electric_offset parameter is set the alignment procedure is skipped
-     *
-     * @param zero_electric_offset value of the sensors absolute position electrical offset in respect to motor's electrical 0 position.
-     * @param sensor_direction  sensor natural direction - default is CW
-     *
      */
-    int initFOC(float zero_electric_offset = NOT_SET, Direction sensor_direction = Direction::CW) override;
+    int initFOC() override;
 
     /**
      * Function running FOC algorithm in real-time