some refactoring and bug fixng

Author: askuric

examples/utils/calibration/alignment_and_cogging_test/alignment_and_cogging_test.ino

@@ -21,6 +21,7 @@ void testAlignmentAndCogging(int direction) {
   motor.move(0);
   _delay(200);
 
+  sensor.update();
   float initialAngle = sensor.getAngle();
 
   const int shaft_rotation = 720; // 720 deg test - useful to see repeating cog pattern
@@ -40,6 +41,7 @@ void testAlignmentAndCogging(int direction) {
     _delay(5);
 
     // measure
+    sensor.update();
     float sensorAngle = (sensor.getAngle() - initialAngle) * 180 / PI;
     float sensorElectricAngle = sensorAngle * motor.pole_pairs;
     float electricAngleError = electricAngle - sensorElectricAngle;

examples/utils/calibration/find_pole_pair_number/encoder/find_pole_pairs_number/find_pole_pairs_number.ino

@@ -64,6 +64,7 @@ void setup() {
   motor.move(0);
   _delay(1000);
   // read the encoder angle
+  encoder.update(); 
   float angle_begin = encoder.getAngle();
   _delay(50);
 
@@ -75,6 +76,7 @@ void setup() {
   }
   _delay(1000);
   // read the encoder value for 180
+  encoder.update(); 
   float angle_end = encoder.getAngle();
   _delay(50);
   // turn off the motor

examples/utils/calibration/find_pole_pair_number/magnetic_sensor/find_pole_pairs_number/find_pole_pairs_number.ino

@@ -63,18 +63,20 @@ void setup() {
   motor.move(0);
   _delay(1000);
   // read the sensor angle
+  sensor.update();
   float angle_begin = sensor.getAngle();
   _delay(50);
 
   // move the motor slowly to the electrical angle pp_search_angle
   float motor_angle = 0;
   while(motor_angle <= pp_search_angle){
     motor_angle += 0.01f;
-    sensor.getAngle(); // keep track of the overflow
+    sensor.update(); // keep track of the overflow
     motor.move(motor_angle);
   }
   _delay(1000);
   // read the sensor value for 180
+  sensor.update(); 
   float angle_end = sensor.getAngle();
   _delay(50);
   // turn off the motor

examples/utils/sensor_test/encoder/encoder_example/encoder_example.ino

@@ -33,6 +33,10 @@ void setup() {
 }
 
 void loop() {
+  // iterative function updating the sensor internal variables
+  // it is usually called in motor.loopFOC()
+  // not doing much for the encoder though
+  encoder.update();
   // display the angle and the angular velocity to the terminal
   Serial.print(encoder.getAngle());
   Serial.print("\t");

examples/utils/sensor_test/encoder/encoder_software_interrupts_example/encoder_software_interrupts_example.ino

@@ -46,6 +46,10 @@ void setup() {
 }
 
 void loop() {
+  // iterative function updating the sensor internal variables
+  // it is usually called in motor.loopFOC()
+  // not doing much for the encoder though
+  encoder.update();
   // display the angle and the angular velocity to the terminal
   Serial.print(encoder.getAngle());
   Serial.print("\t");

examples/utils/sensor_test/hall_sensors/hall_sensor_example/hall_sensor_example.ino

@@ -37,6 +37,9 @@ void setup() {
 }
 
 void loop() {
+  // iterative function updating the sensor internal variables
+  // it is usually called in motor.loopFOC()
+  sensor.update();
   // display the angle and the angular velocity to the terminal
   Serial.print(sensor.getAngle());
   Serial.print("\t");

examples/utils/sensor_test/hall_sensors/hall_sensor_software_interrupts_example/hall_sensors_software_interrupt_example.ino

@@ -49,6 +49,9 @@ void setup() {
 }
 
 void loop() {
+  // iterative function updating the sensor internal variables
+  // it is usually called in motor.loopFOC()
+  sensor.update();
   // display the angle and the angular velocity to the terminal
   Serial.print(sensor.getAngle());
   Serial.print("\t");

examples/utils/sensor_test/magnetic_sensors/magnetic_sensor_analog_example/find_raw_min_max/find_raw_min_max.ino renamed to examples/utils/sensor_test/magnetic_sensors/magnetic_sensor_analog/find_raw_min_max/find_raw_min_max.ino

@@ -33,6 +33,11 @@ int max_count = 0;
 int min_count = 100000; 
 
 void loop() {
+  // iterative function updating the sensor internal variables
+  // it is usually called in motor.loopFOC()
+  // this function reads the sensor hardware and 
+  // has to be called before getAngle nad getVelocity
+  sensor.update();
 
   // keep track of min and max
   if(sensor.raw_count > max_count) max_count = sensor.raw_count;

examples/utils/sensor_test/magnetic_sensors/magnetic_sensor_analog_example/magnetic_sensor_analog/magnetic_sensor_analog.ino renamed to examples/utils/sensor_test/magnetic_sensors/magnetic_sensor_analog/magnetic_sensor_analog_example/magnetic_sensor_analog_example.ino

@@ -25,6 +25,11 @@ void setup() {
 }
 
 void loop() {
+  // iterative function updating the sensor internal variables
+  // it is usually called in motor.loopFOC()
+  // this function reads the sensor hardware and 
+  // has to be called before getAngle nad getVelocity
+  sensor.update();
   // display the angle and the angular velocity to the terminal
   Serial.print(sensor.getAngle());
   Serial.print("\t");

examples/utils/sensor_test/magnetic_sensors/magnetic_sensor_i2c_dual_bus_examples/esp32_i2c_dual_bus_example/esp32_i2c_dual_bus_example.ino renamed to examples/utils/sensor_test/magnetic_sensors/magnetic_sensor_i2c/magnetic_sensor_i2c_dual_bus_examples/esp32_i2c_dual_bus_example/esp32_i2c_dual_bus_example.ino

@@ -25,6 +25,13 @@ void setup() {
 }
 
 void loop() {
+  // iterative function updating the sensor internal variables
+  // it is usually called in motor.loopFOC()
+  // this function reads the sensor hardware and 
+  // has to be called before getAngle nad getVelocity
+  sensor0.update();
+  sensor1.update();
+  
   _delay(200);
   Serial.print(sensor0.getAngle()); 
   Serial.print(" - ");