add currentsense.enable/disable

Author: Richard Unger

src/BLDCMotor.cpp

@@ -111,6 +111,8 @@ void BLDCMotor::init() {
 // disable motor driver
 void BLDCMotor::disable()
 {
+  // disable the current sense
+  if(current_sense) current_sense->disable();
   // set zero to PWM
   driver->setPwm(0, 0, 0);
   // disable the driver
@@ -125,6 +127,13 @@ void BLDCMotor::enable()
   driver->enable();
   // set zero to PWM
   driver->setPwm(0, 0, 0);
+  // enable the current sense
+  if(current_sense) current_sense->enable();
+  // reset the pids
+  PID_velocity.reset();
+  P_angle.reset();
+  PID_current_q.reset();
+  PID_current_d.reset();
   // motor status update
   enabled = 1;
 }

src/common/base_classes/CurrentSense.cpp

@@ -100,3 +100,12 @@ DQCurrent_s CurrentSense::getDQCurrents(ABCurrent_s current, float angle_el){
 void CurrentSense::linkDriver(BLDCDriver* _driver) {
   driver = _driver;
 }
+
+
+void enable(){
+    // nothing is done here, but you can override this function
+};
+
+void disable(){
+    // nothing is done here, but you can override this function
+};

src/common/base_classes/CurrentSense.h

@@ -87,7 +87,17 @@ class CurrentSense{
      */
     DQCurrent_s getDQCurrents(ABCurrent_s current,float angle_el);
 
+    /**
+     * enable the current sense. default implementation does nothing, but you can
+     * override it to do something useful.
+     */
+    virtual void enable();
 
+    /**
+     * disable the current sense. default implementation does nothing, but you can
+     * override it to do something useful.
+     */
+    virtual void disable();
 };
 
 #endif