From b92b805e138eac4dff39f9aa61c67c5a5562b929 Mon Sep 17 00:00:00 2001
From: Scott Bezek <scottbez1@gmail.com>
Date: Sat, 15 Jan 2022 21:21:23 -0800
Subject: [PATCH] cleanup

---
 firmware/src/interface_task.cpp | 9 +++++++--
 firmware/src/motor_task.cpp     | 8 +++++++-
 2 files changed, 14 insertions(+), 3 deletions(-)

diff --git a/firmware/src/interface_task.cpp b/firmware/src/interface_task.cpp
index 88b6cb2..4c1f188 100644
--- a/firmware/src/interface_task.cpp
+++ b/firmware/src/interface_task.cpp
@@ -6,6 +6,13 @@ using namespace ace_button;
 #define COUNT_OF(A) (sizeof(A) / sizeof(A[0]))
 
 static KnobConfig configs[] = {
+    // int32_t num_positions;
+    // int32_t position;
+    // float position_width_radians;
+    // float detent_strength_unit;
+    // float snap_point;
+    // char descriptor[50];
+
     {
         0,
         0,
@@ -99,13 +106,11 @@ void InterfaceTask::run() {
                 nextConfig();
             }
         }
-        // Serial.println(digitalRead(36));
         delay(10);
     }
 }
 
 void InterfaceTask::handleEvent(AceButton* button, uint8_t event_type, uint8_t button_state) {
-    Serial.println("EVENT!");
     switch (event_type) {
         case AceButton::kEventPressed:
             nextConfig();
diff --git a/firmware/src/motor_task.cpp b/firmware/src/motor_task.cpp
index 80cc217..7b55f8b 100644
--- a/firmware/src/motor_task.cpp
+++ b/firmware/src/motor_task.cpp
@@ -69,7 +69,13 @@ void MotorTask::run() {
     tlv.update();
     delay(10);
 
-    motor.initFOC(-0.6, Direction::CCW);
+    // Tune zero offset to the specific hardware (motor + mounted magnetic sensor).
+    // SimpleFOC is supposed to be able to determine this automatically (if you omit params to initFOC), but
+    // it seems to have a bug (or I've misconfigured it) that gets both the offset and direction very wrong!
+    // So this value is based on experimentation.
+    // TODO: dig into SimpleFOC calibration and find/fix the issue
+    float zero_electric_offset = -0.6;
+    motor.initFOC(zero_electric_offset, Direction::CCW);
     Serial.println(motor.zero_electric_angle);
 
     command.add('M', &doMotor, "foo");