move the sensor calls to before the enable checks in move and loopFOC

this enables two things:
1. you can still see the sensors change and update in SimpleFOCStudio
even if you disable the motor. This is useful to determine sensor
accuracy etc.
2. you previously ran the risk of losing track of full rotations if the
motor was (e.g. manually) moved while disabled. With this change we
always track the sensor values and keep track of all rotations.

Author: runger1101001

src/BLDCMotor.cpp

@@ -244,13 +244,15 @@ int BLDCMotor::absoluteZeroSearch() {
 // Iterative function looping FOC algorithm, setting Uq on the Motor
 // The faster it can be run the better
 void BLDCMotor::loopFOC() {
+  
+  // shaft angle
+  shaft_angle = shaftAngle(); // read value even if motor is disabled to keep the monitoring updated
+
   // if disabled do nothing
   if(!enabled) return;
   // if open-loop do nothing
   if( controller==MotionControlType::angle_openloop || controller==MotionControlType::velocity_openloop ) return;
 
-  // shaft angle
-  shaft_angle = shaftAngle();
   // electrical angle - need shaftAngle to be called first
   electrical_angle = electricalAngle();
 
@@ -295,15 +297,17 @@ void BLDCMotor::loopFOC() {
 // - needs to be called iteratively it is asynchronous function
 // - if target is not set it uses motor.target value
 void BLDCMotor::move(float new_target) {
+
+  // get angular velocity
+  shaft_velocity = shaftVelocity(); // read value even if motor is disabled to keep the monitoring updated
+
   // if disabled do nothing
   if(!enabled) return;
   // downsampling (optional)
   if(motion_cnt++ < motion_downsample) return;
   motion_cnt = 0;
   // set internal target variable
   if(_isset(new_target)) target = new_target;
-  // get angular velocity
-  shaft_velocity = shaftVelocity();
 
   switch (controller) {
     case MotionControlType::torque: