Using dedicated function to calculate the target electrical angle for searching the zero position on the encoder

Author: F00LM1N4

src/common/base_classes/FOCMotor.cpp

@@ -938,8 +938,9 @@ int FOCMotor::absoluteZeroSearch() {
   voltage_limit = voltage_sensor_align;
   shaft_angle = 0;
   // TODO: Try the dedicated method for converting mec and elec angles
-  while(sensor->needsSearch() && shaft_angle < pole_pairs*_2PI){
-    angleOpenloop(pole_pairs*1.5f*_2PI);
+  float search_rotation_target = _electricalAngle(1.5f*_2PI, pole_pairs)
+  while(sensor->needsSearch() && shaft_angle < search_rotation_target){
+    angleOpenloop(search_rotation_target);
     // call important for some sensors not to loose count
     // not needed for the search
     sensor->update();