From 452e1b8cc450872b135fc847b7ccf2a7937c7430 Mon Sep 17 00:00:00 2001
From: Daniel <16339876+dreusel@users.noreply.github.com>
Date: Sat, 12 Feb 2022 16:20:54 +0100
Subject: [PATCH] pass shaft angle, not electric angle to motor.move in
 alignment_and_cogging_test

---
 .../alignment_and_cogging_test.ino                           | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/examples/utils/calibration/alignment_and_cogging_test/alignment_and_cogging_test.ino b/examples/utils/calibration/alignment_and_cogging_test/alignment_and_cogging_test.ino
index 3fcd7b30..7324edf0 100644
--- a/examples/utils/calibration/alignment_and_cogging_test/alignment_and_cogging_test.ino
+++ b/examples/utils/calibration/alignment_and_cogging_test/alignment_and_cogging_test.ino
@@ -35,9 +35,10 @@ void testAlignmentAndCogging(int direction) {
 
   for (int i = 0; i < sample_count; i++) {
 
-    float electricAngle = (float) direction * i * motor.pole_pairs * shaft_rotation / sample_count;
+    float shaftAngle = (float) direction * i * shaft_rotation / sample_count;
+    float electricAngle = (float) shaftAngle * motor.pole_pairs;
     // move and wait
-    motor.move(electricAngle * PI / 180);
+    motor.move(shaftAngle * PI / 180);
     _delay(5);
 
     // measure