called out to Yahweh

This is an idiom. Alternate translation: "prayed to Yahweh for help" (See: rc://en/ta/man/translate/figs-idiom)

because of Midian

Here "Midian" represents the people of Midian. Alternate translation: "because of the Midianites" (See: rc://en/ta/man/translate/figs-metonymy)