try to fix submodule

firmware/lib/Arduino-FOC-drivers/src/encoders/smoothing/SmoothingSensor.h

@@ -0,0 +1,46 @@
+#ifndef SMOOTHING_SENSOR_H
+#define SMOOTHING_SENSOR_H
+
+#include "Arduino.h"
+#include "common/base_classes/FOCMotor.h"
+#include "common/base_classes/Sensor.h"
+
+/**
+  SmoothingSensor is a wrapper class which is inserted inbetween a sensor and motor to provide better
+  quality angle readings from sensors that are low resolution or are slow to communicate. It provides
+  no improvement for sensors that are high resolution and quick to update.
+  It uses the timestamp of the last angle reading from the sensor and the low-pass filtered velocity
+  from the motor to predict what the angle should be at the current time.
+*/
+
+class SmoothingSensor : public Sensor
+{
+  public:
+    /**
+    SmoothingSensor class constructor
+    @param s  Wrapped sensor
+    @param m  Motor that the SmoothingSensor will be linked to
+    */
+    SmoothingSensor(Sensor& s, const FOCMotor& m);
+
+    void update() override;
+    float getVelocity() override;
+    int needsSearch() override;
+
+    // For sensors with slow communication, use these to poll less often
+    unsigned int sensor_downsample = 0; // parameter defining the ratio of downsampling for sensor update
+    unsigned int sensor_cnt = 0; // counting variable for downsampling
+
+    // For hall sensors, the predicted angle is always 0 to 60 electrical degrees ahead of where it would be without
+    // smoothing, so offset it backward by 30 degrees (set this to -PI_6) to get the average in phase with the rotor
+    float phase_correction = 0;
+
+  protected:
+    float getSensorAngle() override;
+    void init() override;
+
+    Sensor& _wrapped;
+    const FOCMotor& _motor;
+};
+
+#endif