Merge pull request #5 from esp-cpp/feature/bldc-driver-update

Feature/bldc driver update

Author: finger563

components/espp

@@ -108,10 +108,11 @@ extern "C" void app_main(void) {
           5.0f, // tested by running velocity_openloop and seeing if the veloicty is ~correct
       .kv_rating =
           320, // tested by running velocity_openloop and seeing if the velocity is ~correct
-      .current_limit = 1.0f,             // Amps
-      .zero_electric_offset = 2.3914752, // gotten from previously running without providing this
+      .current_limit = 1.0f,        // Amps
+      .zero_electric_offset = 0.0f, // set to zero to always calibrate
       // and it will be logged.
-      .sensor_direction = espp::detail::SensorDirection::COUNTER_CLOCKWISE,
+      .sensor_direction =
+          espp::detail::SensorDirection::UNKNOWN, // set to unknown to always calibrate
       .foc_type = espp::detail::FocType::SPACE_VECTOR_PWM,
       .driver = driver,
       .sensor = mt6701,
@@ -135,7 +136,7 @@ extern "C" void app_main(void) {
               .output_min = -20.0,      // angle pid works on velocity (rad/s)
               .output_max = 20.0,       // angle pid works on velocity (rad/s)
           },
-      .log_level = espp::Logger::Verbosity::WARN});
+      .log_level = espp::Logger::Verbosity::INFO});
 
   using BldcHaptics = espp::BldcHaptics<BldcMotor>;