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CalibratedSensor: Allow calibration with provided lut #83

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7 changes: 3 additions & 4 deletions src/encoders/calibrated/CalibratedSensor.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -101,12 +101,11 @@ void CalibratedSensor::calibrate(FOCMotor &motor, int settle_time_ms)
{
// if the LUT is already defined, skip the calibration

if(calibrationLut == NULL) {
if (calibrationLut == NULL) {
allocated = true;
calibrationLut = new uint16_t[n_lut];
}else{
SIMPLEFOC_DEBUG("SEN_CAL: Using pre-defined LUT for calibration.");
return;
} else {
SIMPLEFOC_DEBUG("SEN_CAL: Overwriting pre-defined LUT for calibration.");
}
SIMPLEFOC_DEBUG("SEN_CAL: Starting Sensor Calibration.");

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2 changes: 1 addition & 1 deletion src/encoders/calibrated/README.md
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Expand Up @@ -125,7 +125,7 @@ If you calibrate once during setup and save the LUT to EEPROM or hardcode it, yo

1. **First run**: Call `calibrate(motor)` → Serial outputs LUT
2. **Copy LUT**: Paste the generated values into your code
3. **Subsequent runs**: Pass LUT to constructor and `calibrate()` → instantaneous, no rotation needed
3. **Subsequent runs**: Pass LUT to constructor and DO NOT call `calibrate()` → instantaneous, no rotation needed

Your code will look something like this:

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