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fix compile errors for SimpleFOC 2.3.1 #142

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fix compile errors for SimpleFOC 2.3.1 #142

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16 changes: 12 additions & 4 deletions firmware/src/motor_task.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -79,7 +79,9 @@ void MotorTask::run() {

PB_PersistentConfiguration c = configuration_.get();
motor.pole_pairs = c.motor.calibrated ? c.motor.pole_pairs : 7;
motor.initFOC(c.motor.zero_electrical_offset, c.motor.direction_cw ? Direction::CW : Direction::CCW);
motor.zero_electric_angle = c.motor.zero_electrical_offset;
motor.sensor_direction = c.motor.direction_cw ? Direction::CW : Direction::CCW;
motor.initFOC();

motor.monitor_downsample = 0; // disable monitor at first - optional

Expand Down Expand Up @@ -354,7 +356,9 @@ void MotorTask::calibrate() {

motor.controller = MotionControlType::angle_openloop;
motor.pole_pairs = 1;
motor.initFOC(0, Direction::CW);
motor.zero_electric_angle = 0;
motor.sensor_direction = Direction::CW;
motor.initFOC();

float a = 0;

Expand Down Expand Up @@ -397,10 +401,14 @@ void MotorTask::calibrate() {
log("Sensor measures positive for positive motor rotation:");
if (end_sensor > start_sensor) {
log("YES, Direction=CW");
motor.initFOC(0, Direction::CW);
motor.zero_electric_angle = 0;
motor.sensor_direction = Direction::CW;
motor.initFOC();
} else {
log("NO, Direction=CCW");
motor.initFOC(0, Direction::CCW);
motor.zero_electric_angle = 0;
motor.sensor_direction = Direction::CCW;
motor.initFOC();
}
snprintf(buf_, sizeof(buf_), " (start was %.1f, end was %.1f)", start_sensor, end_sensor);
log(buf_);
Expand Down
6 changes: 3 additions & 3 deletions platformio.ini
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Original file line number Diff line number Diff line change
Expand Up @@ -17,7 +17,7 @@ test_dir = firmware/test
data_dir = firmware/data

[base_config]
platform = espressif32@3.4
platform = espressif32@6.4.0
framework = arduino
monitor_speed = 921600
monitor_flags =
Expand All @@ -43,7 +43,7 @@ board = esp32doit-devkit-v1
board_build.partitions = default_ffat.csv
lib_deps =
${base_config.lib_deps}
askuric/Simple FOC @ 2.2.0
askuric/Simple FOC @ 2.3.1
bodmer/[email protected]
fastled/FastLED @ 3.5.0
bogde/HX711 @ 0.7.5
Expand Down Expand Up @@ -134,7 +134,7 @@ board = adafruit_feather_esp32s3
board_build.partitions = firmware/partitions-4MB-fat.csv
lib_deps =
${base_config.lib_deps}
askuric/Simple [email protected].0
askuric/Simple [email protected].1
bodmer/[email protected]

build_flags =
Expand Down