Move Ualpha and Ubeta to FOCMotor

[Candas1]

This is just about moving Ualpha and Ubeta to FOCMotor so it's available to the flux observer sensor.

[Candas1]

I just forgot it's also used here
I keep forgetting about stepper motors.
It could be removed from StepperMotor.h then.

[runger1101001]

Hmmm - it looks here like a bunch of the AVR checks are failing. I think we have to look into why before we can merge it...

[Candas1]

Hmmm - it looks here like a bunch of the AVR checks are failing. I think we have to look into why before we can merge it...

Welcome back and thanks for merging the PRs.
As I mentioned I forgot to update StepperMotor.h, but I am not sure if it's the reason compilation fails, I will investigate.

I am trying to keep each PR minimal, I hope it's ok.

[Candas1]

I tried removing Ualpha and Ubeta from StepperMotor.h also and initializing it in FOCMotor.cpp, but no luck.
That looks like a very random issue.

I am cursed:
arduino/ArduinoCore-avr#341

[runger1101001]

Weird, right? I haven't really figured out what it is...

But in the meantime I have found and fixed the various esp32 compile problems, of which there were several. None of them had anything to do with your changes, as expected.

[runger1101001]

If you merge over my recent changes I think that will fix the ESP32 side of things, at least

[Candas1]

Merges all the last dev changes fixed ESP32 compilation as you said, but avr is still failing.
So this issue is not so random as I thought.

[runger1101001]

I think it is this: https://stackoverflow.com/questions/8188849/avr-linker-error-relocation-truncated-to-fit

[askuric]

I think the avr issue is fixed so I'm merging this. :D