FIX open-loop velocity float bug

Author: askuric

src/BLDCMotor.cpp

@@ -388,13 +388,7 @@ void BLDCMotor::velocityOpenloop(float target_velocity){
   float Ts = (now_us - open_loop_timestamp) * 1e-6;
 
   // calculate the necessary angle to achieve target velocity
-  shaft_angle += target_velocity*Ts;
-
-  // check if shaft_angle gets too large
-  if (shaft_angle >= (_2PI * 4))
-    {
-      shaft_angle = 0;
-    }
+  shaft_angle = _normalizeAngle(shaft_angle + target_velocity*Ts);
 
   // set the maximal allowed voltage (voltage_limit) with the necessary angle
   setPhaseVoltage(voltage_limit,  0, _electricalAngle(shaft_angle, pole_pairs));

src/StepperMotor.cpp

@@ -247,7 +247,7 @@ void StepperMotor::velocityOpenloop(float target_velocity){
   float Ts = (now_us - open_loop_timestamp) * 1e-6;
 
   // calculate the necessary angle to achieve target velocity
-  shaft_angle += target_velocity*Ts; 
+  shaft_angle = _normalizeAngle(shaft_angle + target_velocity*Ts);
 
   // set the maximal allowed voltage (voltage_limit) with the necessary angle
   setPhaseVoltage(voltage_limit, 0, _electricalAngle(shaft_angle,pole_pairs));