added info to README + removed prints

Author: askuric

src/encoders/calibrated/CalibratedSensor.cpp

@@ -188,10 +188,10 @@ void CalibratedSensor::calibrate(FOCMotor &motor, float* lut, float zero_electri
 		zero_angle_prev = zero_angle;
 		avg_elec_angle += zero_angle/n_ticks;
 
-		motor.monitor_port->print(">error:");
-		motor.monitor_port->println(zero_angle);
-		motor.monitor_port->print(">zero_angle:");
-		motor.monitor_port->println(avg_elec_angle);
+		// motor.monitor_port->print(">zero:");
+		// motor.monitor_port->println(zero_angle);
+		// motor.monitor_port->print(">zero_average:");
+		// motor.monitor_port->println(avg_elec_angle/2.0);
 	}
 	_delay(2000);
 
@@ -227,10 +227,10 @@ void CalibratedSensor::calibrate(FOCMotor &motor, float* lut, float zero_electri
 		zero_angle_prev = zero_angle;
 		avg_elec_angle += zero_angle/n_ticks;
 
-		motor.monitor_port->print(">error:");
-		motor.monitor_port->println(zero_angle);
-		motor.monitor_port->print(">zero_angle:");
-		motor.monitor_port->println(avg_elec_angle);
+		// motor.monitor_port->print(">zero:");
+		// motor.monitor_port->println(zero_angle);
+		// motor.monitor_port->print(">zero_average:");
+		// motor.monitor_port->println(avg_elec_angle/2.0);
 	}
 
 	// get post calibration mechanical angle.
@@ -261,7 +261,7 @@ void CalibratedSensor::calibrate(FOCMotor &motor, float* lut, float zero_electri
 	int index_offset = floor((float)n_lut * raw_offset / _2PI);
 	float dn = n_ticks / (float)n_lut;
 
-	motor.monitor_port->println("Constructing LUT: ");
+	motor.monitor_port->println("Constructing LUT.");
 	_delay(1000);
 	// Build Look Up Table
 	for (int i = 0; i < n_lut; i++)
@@ -273,7 +273,7 @@ void CalibratedSensor::calibrate(FOCMotor &motor, float* lut, float zero_electri
 		// negate the error if the sensor is in the opposite direction
 		calibrationLut[ind] =  motor.sensor_direction * calibrationLut[ind];
 	}
-	motor.monitor_port->println("Calibration LUT: ");
+	motor.monitor_port->println("");
 	_delay(1000);
 
 	// Display the LUT

src/encoders/calibrated/README.md

@@ -86,6 +86,29 @@ Please see the more complete [example](https://github.com/simplefoc/Arduino-FOC-
 The code has been rewritten to reduce its memory footprint and allow more flexible Lookup table (LUT) sizing. 
 Additionally, the calibrated sensor class now supports providing the saved LUT as a paramer for calibration. This allows you to save the LUT and load it on startup to avoid recalibration on each startup.
 
+Once you do the calibration once, it will output something like this:
+
+```
+...
+
+Starting Sensor Calibration.
+MOT: Align sensor.
+MOT: sensor_direction==CCW
+MOT: PP check: OK!
+MOT: Zero elec. angle: 3.17
+MOT: No current sense.
+MOT: Ready.Rotating: CCW
+Rotating: CW
+Average Zero Electrical Angle: 4.01
+Constructing LUT.
+
+float calibrationLut[50] = {0.003486, 0.005795, 0.007298, 0.008303, 0.008771, 0.007551, 0.005986, 0.004115, 0.001361, -0.001392, -0.004069, -0.007474, -0.010420, -0.013135, -0.014891, -0.017415, -0.018328, -0.019125, -0.018849, -0.017193, -0.015152, -0.012422, -0.008579, -0.003970, 0.000678, 0.005211, 0.009821, 0.013280, 0.016470, 0.018127, 0.018376, 0.016969, 0.016716, 0.015466, 0.013602, 0.011431, 0.008646, 0.006092, 0.003116, 0.000409, -0.002342, -0.004367, -0.005932, -0.006998, -0.007182, -0.007175, -0.006017, -0.003746, -0.001783, 0.000948};
+float zero_electric_angle = 4.007072;
+Direction sensor_direction = Direction::CCW;
+Sensor Calibration Done
+...
+```
+
 The LUT and sensor's zero angle and direction are outputed by the calibration process to the Serial terminal. So you can copy and paste them into your code.
 
 Your code will look something like this:
@@ -95,9 +118,9 @@ Your code will look something like this:
 // number of LUT entries
 const N_LUT = 100;
 // Lookup table that has been ouptut from the calibration process
-float calibrationLut[N_LUT] = {...};
-float zero_eletrical_angle = 0.0;
-Direction sensor_direction = Direction::CW;
+float calibrationLut[50] = {0.003486, 0.005795, 0.007298, 0.008303, 0.008771, 0.007551, 0.005986, 0.004115, 0.001361, -0.001392, -0.004069, -0.007474, -0.010420, -0.013135, -0.014891, -0.017415, -0.018328, -0.019125, -0.018849, -0.017193, -0.015152, -0.012422, -0.008579, -0.003970, 0.000678, 0.005211, 0.009821, 0.013280, 0.016470, 0.018127, 0.018376, 0.016969, 0.016716, 0.015466, 0.013602, 0.011431, 0.008646, 0.006092, 0.003116, 0.000409, -0.002342, -0.004367, -0.005932, -0.006998, -0.007182, -0.007175, -0.006017, -0.003746, -0.001783, 0.000948};
+float zero_electric_angle = 4.007072;
+Direction sensor_direction = Direction::CCW;
 
 // provide the sensor class and the number of points in the LUT
 CalibratedSensor sensor_calibrated = CalibratedSensor(sensor, N_LUT);