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

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...

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.

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

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.

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

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.

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

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