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Fix for issue #518 absoluteZeroSearch not moving the motor to seek for the encoder zero #519

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Fix for issue #518 absoluteZeroSearch not moving the motor to seek for the encoder zero #519

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ef22c4c
Getting back open-loop motion while searching for the encoder zero
F00LM1N4 Feb 28, 2026
0622b9f
Using dedicated function to calculate the target electrical angle for…
F00LM1N4 Mar 5, 2026
339164f
Fixed ; and better comments
F00LM1N4 Mar 5, 2026
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10 changes: 7 additions & 3 deletions src/common/base_classes/FOCMotor.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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);
Expand All @@ -954,4 +958,4 @@ int FOCMotor::absoluteZeroSearch() {
else { SIMPLEFOC_MOTOR_DEBUG("Success!"); }
}
return !sensor->needsSearch();
}
}