Merge pull request #519 from F00LM1N4/dev

Fix for issue #518 absoluteZeroSearch not moving the motor to seek for the encoder zero

Author: askuric

src/common/base_classes/FOCMotor.cpp

@@ -937,11 +937,15 @@ int FOCMotor::absoluteZeroSearch() {
   velocity_limit = velocity_index_search;
   voltage_limit = voltage_sensor_align;
   shaft_angle = 0;
-  while(sensor->needsSearch() && shaft_angle < _2PI){
-    angleOpenloop(1.5f*_2PI);
+  // calculting elctrical angle equivalent for a 1.5 mechanical rotation
+  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();
+    // set the voltage to the motor
+    setPhaseVoltage(voltage_limit, 0, shaft_angle);
   }
   // disable motor
   setPhaseVoltage(0, 0, 0);
@@ -954,4 +958,4 @@ int FOCMotor::absoluteZeroSearch() {
     else { SIMPLEFOC_MOTOR_DEBUG("Success!"); }
   }
   return !sensor->needsSearch();
-}
+}