fixing merge conflicts

Author: owennewo

README.md

@@ -10,6 +10,11 @@ Therefore this is an attempt to:
 - Demystify FOC algorithm and make a robust but simple Arduino library: [Arduino *SimpleFOClibrary*](https://docs.simplefoc.com/arduino_simplefoc_library_showcase)
 - Develop a modular BLDC driver board: [Arduino *SimpleFOCShield*](https://docs.simplefoc.com/arduino_simplefoc_shield_showcase).
 
+
+> **DEV Features**<br>
+> - Teensy support by Christopher Parrott <br>
+> - Pull requests by [@cousinitt](https://github.com/cousinitt) - refactoring and c++11 improvements
+
 <blockquote class="info"><p class="heading"><b>NEWS</b> 📢</p>New version of the Arduino <span class="simple">Simple<span class="foc">FOC</span>library</span> is out! (<a href="https://github.com/askuric/Arduino-FOC/releases">version 1.5.0 <i class="fa fa-tag"></i></a>) <br> <b>New features</b>:<ul><li> Open-loop motor control</li><li> Support Hall sensors</li><li> Support for Analog interface Magnetic sensor</li><li> New alignment procedure <br>- automatic sensor direction detection<br> - possibility to avoid alignment completely</li><li> PI controller updated to PID controller</li><li>...</li></ul>Big thanks to <a href="https://github.com/owennewo">@owennewo</a> for awesome suggestions and pull-requests!</blockquote>
 
 

src/Encoder.h

@@ -59,31 +59,31 @@ class Encoder: public Sensor{
 
     // Abstract functions of the Sensor class implementation
     /** get current angle (rad) */
-    float getAngle();
+    float getAngle() override;
     /**  get current angular velocity (rad/s) */
-    float getVelocity();
+    float getVelocity() override;
     /** 
      *  set current angle as zero angle 
      * return the angle [rad] difference
      */
-    float initRelativeZero();
+    float initRelativeZero() override;
     /**
      * set index angle as zero angle
      * return the angle [rad] difference
      */
-    float initAbsoluteZero();
+    float initAbsoluteZero() override;
     /**
      *  returns 0 if it has no index 
      * 0 - encoder without index
      * 1 - encoder with index 
      */
-    int hasAbsoluteZero();
+    int hasAbsoluteZero() override;
     /**
      * returns 0 if it does need search for absolute zero
      * 0 - encoder without index 
      * 1 - ecoder with index
      */
-    int needsAbsoluteZeroSearch();
+    int needsAbsoluteZeroSearch() override;
 
   private:
     int hasIndex(); //!< function returning 1 if encoder has index pin and 0 if not.

src/FOCutils.cpp

@@ -53,6 +53,15 @@ void _setPwmFrequency(const int pinA, const int pinB, const int pinC) {
   analogWrite(pinC, 0);
   analogWriteFrequency(50000);  // set 50kHz
 
+
+#elif defined(__arm__) && defined(CORE_TEENSY) //if teensy 3x / 4x / LC boards
+  analogWrite(pinA, 0);
+  analogWriteFrequency(pinA, 50000);  // set 50kHz
+  analogWrite(pinB, 0);
+  analogWriteFrequency(pinB, 50000);  // set 50kHz
+  analogWrite(pinC, 0);
+  analogWriteFrequency(pinC, 50000);  // set 50kHz
+
 #elif defined(ESP_H) // if esp32 boards
 
   motor_slots_t m_slot = {};

src/HallSensor.h

@@ -10,9 +10,9 @@ class HallSensor: public Sensor{
  public:
     /**
     HallSensor class constructor
-    @param encA  HallSensor B pin
+    @param encA  HallSensor A pin
     @param encB  HallSensor B pin
-    @param encC  HallSensor B pin
+    @param encC  HallSensor C pin
     @param pp  pole pairs  (e.g hoverboard motor has 15pp and small gimbals often have 7pp)
     @param index index pin number (optional input)
     */
@@ -51,31 +51,31 @@ class HallSensor: public Sensor{
 
     // Abstract functions of the Sensor class implementation
     /** get current angle (rad) */
-    float getAngle();
+    float getAngle() override;
     /**  get current angular velocity (rad/s) */
-    float getVelocity();
+    float getVelocity() override;
     /** 
      *  set current angle as zero angle 
      * return the angle [rad] difference
      */
-    float initRelativeZero();
+    float initRelativeZero() override;
     /**
      * set index angle as zero angle
      * return the angle [rad] difference
      */
-    float initAbsoluteZero();
+    float initAbsoluteZero() override;
     /**
      *  returns 0 if it has no index 
      * 0 - HallSensor without index
      * 1 - HallSensor with index 
      */
-    int hasAbsoluteZero();
+    int hasAbsoluteZero() override;
     /**
      * returns 0 if it does need search for absolute zero
      * 0 - HallSensor without index 
      * 1 - ecoder with index
      */
-    int needsAbsoluteZeroSearch();
+    int needsAbsoluteZeroSearch() override;
 
     // whether last step was CW (+1) or CCW (-1) direction
     Direction direction;

src/MagneticSensorAnalog.h

@@ -15,7 +15,6 @@ class MagneticSensorAnalog: public Sensor{
     /**
      * MagneticSensorAnalog class constructor
      * @param _pinAnalog  the pin to read the PWM signal
-     * @param _pinAnalog  the pin to read the PWM signal
      */
     MagneticSensorAnalog(uint8_t _pinAnalog, int _min = 0, int _max = 0);
 
@@ -30,23 +29,23 @@ class MagneticSensorAnalog: public Sensor{
 
     // implementation of abstract functions of the Sensor class
     /** get current angle (rad) */
-    float getAngle();
+    float getAngle() override;
     /** get current angular velocity (rad/s) **/
-    float getVelocity();
+    float getVelocity() override;
     /**
      *  set current angle as zero angle 
      * return the angle [rad] difference
      */
-    float initRelativeZero();
+    float initRelativeZero() override;
     /**
      *  set absolute zero angle as zero angle
      * return the angle [rad] difference
      */
-    float initAbsoluteZero();
+    float initAbsoluteZero() override;
     /** returns 1 because it is the absolute sensor */
-    int hasAbsoluteZero();
+    int hasAbsoluteZero() override;
     /** returns 0  maning it doesn't need search for absolute zero */
-    int needsAbsoluteZeroSearch();
+    int needsAbsoluteZeroSearch() override;
     /** raw count (typically in range of 0-1023), useful for debugging resolution issues */
     int raw_count;
     int min_raw_count;

src/MagneticSensorI2C.h

@@ -25,23 +25,24 @@ class MagneticSensorI2C: public Sensor{
 
     // implementation of abstract functions of the Sensor class
     /** get current angle (rad) */
-    float getAngle();
+    float getAngle() override;
     /** get current angular velocity (rad/s) **/
-    float getVelocity();
+    float getVelocity() override;
     /**
      *  set current angle as zero angle 
      * return the angle [rad] difference
      */
-    float initRelativeZero();
+    float initRelativeZero() override;
     /**
      *  set absolute zero angle as zero angle
      * return the angle [rad] difference
      */
-    float initAbsoluteZero();
+    float initAbsoluteZero() override;
     /** returns 1 because it is the absolute sensor */
-    int hasAbsoluteZero();
+    int hasAbsoluteZero() override;
     /** returns 0  maning it doesn't need search for absolute zero */
-    int needsAbsoluteZeroSearch();
+
+    int needsAbsoluteZeroSearch() override;
 
     /* the speed of the i2c clock signal */
     long clock_speed;

src/MagneticSensorSPI.h

@@ -26,23 +26,25 @@ class MagneticSensorSPI: public Sensor{
 
     // implementation of abstract functions of the Sensor class
     /** get current angle (rad) */
-    float getAngle();
+    float getAngle() override;
     /** get current angular velocity (rad/s) **/
-    float getVelocity();
+    float getVelocity() override;
     /**
      *  set current angle as zero angle 
      * return the angle [rad] difference
      */
-    float initRelativeZero();
+    float initRelativeZero() override;
     /**
      *  set absolute zero angle as zero angle
      * return the angle [rad] difference
      */
-    float initAbsoluteZero();
+    float initAbsoluteZero() override;
     /** returns 1 because it is the absolute sensor */
-    int hasAbsoluteZero();
+    int hasAbsoluteZero() override;
     /** returns 0  maning it doesn't need search for absolute zero */
-    int needsAbsoluteZeroSearch();
+
+    int needsAbsoluteZeroSearch() override;
+
     // returns the spi mode (phase/polarity of read/writes) i.e one of SPI_MODE0 | SPI_MODE1 | SPI_MODE2 | SPI_MODE3
     int spi_mode;