No sensor class calls Sensor::init()

[steph643]

For example MagneticSensorSPI never calls Sensor::init(). I believe this causes Sensor::full_rotations to be wrongly computed during the first call to Sensor::update().

[askuric]

Hey @steph643,
The sensor init is delegated to the user. The user has to call it before linking the sensor to the motor.
I am not sure if that makes sense in your case.

Do you still have the same issue with miscalculated values even after the init call?

[steph643]

The issue is that, unless I'm missing something, calling MagneticSensorSPI::init() doesn't call Sensor::init() so you end up with a partially initialized sensor.

[askuric]

Ah I see!
You are right!
We'll investigate this thoroughly and correct the code asap!

[runger1101001]

This is my bad - I can't believe I missed this! I fear it is because I normally use the specific sensor implementations I have created in the Arduino-FOC-drivers repository. Those all call the base class init method... doh! silly and careless me!

I think Encoder and HallSensor don't need it, since their velocity calculations are handled in the specific classes overriding the base class. The other sensors all need it.

I have fixed it in my fork: https://github.com/runger1101001/Arduino-FOC/tree/dev
and created a pull request against the dev branch. I won't merge it just yet because I'm on vacation and can't test with a real sensor and motor.