public setPhaseVoltage

Author: askuric

src/BLDCMotor.h

@@ -78,7 +78,7 @@ class BLDCMotor: public FOCMotor
     * @param Ud Current voltage in d axis to set to the motor
     * @param angle_el current electrical angle of the motor
     */
-    void setPhaseVoltage(float Uq, float Ud, float angle_el);
+    void setPhaseVoltage(float Uq, float Ud, float angle_el) override;
 
   private:
     // FOC methods 

src/StepperMotor.h

@@ -78,19 +78,18 @@ class StepperMotor: public FOCMotor
 
     float	Ualpha,Ubeta; //!< Phase voltages U alpha and U beta used for inverse Park and Clarke transform
 
-  private:
-  
-    // FOC methods 
-    /**
+  /**
     * Method using FOC to set Uq to the motor at the optimal angle
     * Heart of the FOC algorithm
     * 
     * @param Uq Current voltage in q axis to set to the motor
     * @param Ud Current voltage in d axis to set to the motor
     * @param angle_el current electrical angle of the motor
     */
-    void setPhaseVoltage(float Uq, float Ud , float angle_el);
+    void setPhaseVoltage(float Uq, float Ud, float angle_el) override;
 
+  private:
+  
     /** Sensor alignment to electrical 0 angle of the motor */
     int alignSensor();
     /** Motor and sensor alignment to the sensors absolute 0 angle  */

src/common/base_classes/FOCMotor.h

@@ -127,6 +127,16 @@ class FOCMotor
      */
     virtual void move(float target = NOT_SET)=0;
 
+    /**
+    * Method using FOC to set Uq to the motor at the optimal angle
+    * Heart of the FOC algorithm
+    * 
+    * @param Uq Current voltage in q axis to set to the motor
+    * @param Ud Current voltage in d axis to set to the motor
+    * @param angle_el current electrical angle of the motor
+    */
+    virtual void setPhaseVoltage(float Uq, float Ud, float angle_el)=0;
+    
     // State calculation methods 
     /** Shaft angle calculation in radians [rad] */
     float shaftAngle();
@@ -137,6 +147,7 @@ class FOCMotor
     float shaftVelocity();
 
 
+
     /** 
      * Electrical angle calculation  
      */