Merge pull request #326 from Candas1/flux_observer_sensor

Move Ualpha and Ubeta to FOCMotor

Author: askuric

src/BLDCMotor.h

@@ -69,8 +69,7 @@ class BLDCMotor: public FOCMotor
     void move(float target = NOT_SET) override;
 
     float Ua, Ub, Uc;//!< Current phase voltages Ua,Ub and Uc set to motor
-    float	Ualpha, Ubeta; //!< Phase voltages U alpha and U beta used for inverse Park and Clarke transform
-
+    
   /**
     * Method using FOC to set Uq to the motor at the optimal angle
     * Heart of the FOC algorithm

src/StepperMotor.h

@@ -73,8 +73,6 @@ class StepperMotor: public FOCMotor
      */
     void move(float target = NOT_SET) override;
 
-    float	Ualpha,Ubeta; //!< Phase voltages U alpha and U beta used for inverse Park and Clarke transform
-
   /**
     * Method using FOC to set Uq to the motor at the optimal angle
     * Heart of the FOC algorithm

src/common/base_classes/FOCMotor.cpp

@@ -32,6 +32,10 @@ FOCMotor::FOCMotor()
 
   // voltage bemf 
   voltage_bemf = 0;
+
+  // Initialize phase voltages U alpha and U beta used for inverse Park and Clarke transform
+  Ualpha = 0;
+  Ubeta = 0;
 
   //monitor_port 
   monitor_port = nullptr;

src/common/base_classes/FOCMotor.h

@@ -161,6 +161,8 @@ class FOCMotor
     DQVoltage_s voltage;//!< current d and q voltage set to the motor
     DQCurrent_s current;//!< current d and q current measured
     float voltage_bemf; //!< estimated backemf voltage (if provided KV constant)
+    float	Ualpha, Ubeta; //!< Phase voltages U alpha and U beta used for inverse Park and Clarke transform
+
 
     // motor configuration parameters
     float voltage_sensor_align;//!< sensor and motor align voltage parameter