performance optimisation - don't return angle on updateSensor()

Author: runger1101001

src/BLDCMotor.cpp

@@ -101,7 +101,8 @@ int  BLDCMotor::initFOC( float zero_electric_offset, Direction _sensor_direction
   if(sensor){
     exit_flag *= alignSensor();
     // added the shaft_angle update
-    shaft_angle = sensor->updateSensor();
+    sensor->updateSensor();
+    shaft_angle = sensor->getAngle();
   }else if(monitor_port) monitor_port->println(F("MOT: No sensor."));
 
   // aligning the current sensor - can be skipped
@@ -164,14 +165,16 @@ int BLDCMotor::alignSensor() {
       _delay(2);
     }
     // take and angle in the middle
-    float mid_angle = sensor->updateSensor();
+    sensor->updateSensor();
+    float mid_angle = sensor->getAngle();
     // move one electrical revolution backwards
     for (int i = 500; i >=0; i-- ) {
       float angle = _3PI_2 + _2PI * i / 500.0f ;
       setPhaseVoltage(voltage_sensor_align, 0,  angle);
       _delay(2);
     }
-    float end_angle = sensor->updateSensor();
+    sensor->updateSensor();
+    float end_angle = sensor->getAngle();
     setPhaseVoltage(0, 0, 0);
     _delay(200);
     // determine the direction the sensor moved
@@ -201,7 +204,8 @@ int BLDCMotor::alignSensor() {
     // set angle -90(270 = 3PI/2) degrees
     setPhaseVoltage(voltage_sensor_align, 0,  _3PI_2);
     _delay(700);
-    zero_electric_angle = _normalizeAngle(_electricalAngle(sensor_direction*sensor->updateSensor(), pole_pairs));
+    sensor->updateSensor();
+    zero_electric_angle = _normalizeAngle(_electricalAngle(sensor_direction*sensor->getAngle(), pole_pairs));
     _delay(20);
     if(monitor_port){
       monitor_port->print(F("MOT: Zero elec. angle: "));

src/common/base_classes/Sensor.cpp

@@ -4,14 +4,13 @@
 
 // TODO add an init method to make the startup smoother by initializing internal variables to current values rather than 0
 
-float Sensor::updateSensor() {
+void Sensor::updateSensor() {
     float val = getSensorAngle();
     angle_prev_ts = _micros();
     float d_angle = val - angle_prev;
     // if overflow happened track it as full rotation
     if(abs(d_angle) > (0.8f*_2PI) ) full_rotations += ( d_angle > 0 ) ? -1 : 1; 
     angle_prev = val;
-    return getAngle();
 }
 
 

src/common/base_classes/Sensor.h

@@ -95,7 +95,7 @@ class Sensor{
          * 
          * Returns the same value as getAngle() as its result
          */
-        virtual float updateSensor();
+        virtual void updateSensor();
 
         /** 
          * returns 0 if it does need search for absolute zero