change init logic - remove params from initFOC

Author: Richard Unger

src/BLDCMotor.cpp

@@ -126,20 +126,13 @@ void BLDCMotor::enable()
   FOC functions
 */
 // FOC initialization function
-int  BLDCMotor::initFOC( float zero_electric_offset, Direction _sensor_direction) {
+int  BLDCMotor::initFOC() {
   int exit_flag = 1;
 
   motor_status = FOCMotorStatus::motor_calibrating;
 
   // align motor if necessary
   // alignment necessary for encoders!
-  if(_isset(zero_electric_offset)){
-    // abosolute zero offset provided - no need to align
-    zero_electric_angle = zero_electric_offset;
-    // set the sensor direction - default CW
-    sensor_direction = _sensor_direction;
-  }
-
   // sensor and motor alignment - can be skipped
   // by setting motor.sensor_direction and motor.zero_electric_angle
   _delay(500);

src/BLDCMotor.h

@@ -49,7 +49,7 @@ class BLDCMotor: public FOCMotor
      * Function initializing FOC algorithm
      * and aligning sensor's and motors' zero position 
      */  
-    int initFOC( float zero_electric_offset = NOT_SET , Direction sensor_direction = Direction::CW) override;
+    int initFOC() override;
     /**
      * Function running FOC algorithm in real-time
      * it calculates the gets motor angle and sets the appropriate voltages 

src/StepperMotor.cpp

@@ -92,20 +92,13 @@ void StepperMotor::enable()
   FOC functions
 */
 // FOC initialization function
-int  StepperMotor::initFOC( float zero_electric_offset, Direction _sensor_direction ) {
+int  StepperMotor::initFOC() {
   int exit_flag = 1;
 
   motor_status = FOCMotorStatus::motor_calibrating;
 
   // align motor if necessary
   // alignment necessary for encoders!
-  if(_isset(zero_electric_offset)){
-    // abosolute zero offset provided - no need to align
-    zero_electric_angle = zero_electric_offset;
-    // set the sensor direction - default CW
-    sensor_direction = _sensor_direction;
-  }
-
   // sensor and motor alignment - can be skipped
   // by setting motor.sensor_direction and motor.zero_electric_angle
   _delay(500);

src/StepperMotor.h

@@ -54,12 +54,8 @@ class StepperMotor: public FOCMotor
      * and aligning sensor's and motors' zero position 
      * 
      * - If zero_electric_offset parameter is set the alignment procedure is skipped
-     * 
-     * @param zero_electric_offset value of the sensors absolute position electrical offset in respect to motor's electrical 0 position.
-     * @param sensor_direction  sensor natural direction - default is CW
-     *
      */  
-    int initFOC( float zero_electric_offset = NOT_SET , Direction sensor_direction = Direction::CW) override;
+    int initFOC() override;
     /**
      * Function running FOC algorithm in real-time
      * it calculates the gets motor angle and sets the appropriate voltages 

src/common/base_classes/FOCMotor.h

@@ -104,12 +104,8 @@ class FOCMotor
      * and aligning sensor's and motors' zero position 
      * 
      * - If zero_electric_offset parameter is set the alignment procedure is skipped
-     * 
-     * @param zero_electric_offset value of the sensors absolute position electrical offset in respect to motor's electrical 0 position.
-     * @param sensor_direction  sensor natural direction - default is CW
-     *
      */  
-    virtual int initFOC(float zero_electric_offset = NOT_SET , Direction sensor_direction = Direction::CW)=0; 
+    virtual int initFOC()=0;
     /**
      * Function running FOC algorithm in real-time
      * it calculates the gets motor angle and sets the appropriate voltages 
@@ -209,7 +205,7 @@ class FOCMotor
     // sensor related variabels
     float sensor_offset; //!< user defined sensor zero offset
     float zero_electric_angle = NOT_SET;//!< absolute zero electric angle - if available
-    Direction sensor_direction = Direction::UNKNOWN; //!< if sensor_direction == Direction::CCW then direction will be flipped to CW
+    Direction sensor_direction = Direction::CW; //!< default is CW. if sensor_direction == Direction::CCW then direction will be flipped compared to CW. Set to UNKNOWN to set by calibration
 
     /**
      * Function providing BLDCMotor class with the