From 21eaf7e9fc34d72674e946fd27167ef72874eb3d Mon Sep 17 00:00:00 2001
From: Shobuj Paul <72087882+Shobuj-Paul@users.noreply.github.com>
Date: Thu, 22 Feb 2024 11:26:44 +0000
Subject: [PATCH] Made gains and configs as member variables rather than
 function inputs

---
 include/observers/bemf_observer.hpp |  2 +-
 include/observers/dq_update.hpp     | 17 +++++++++++------
 include/observers/tracker.hpp       |  3 ++-
 src/observers/bemf_observer.cpp     | 10 +++++-----
 src/observers/dq_update.cpp         |  7 +++----
 5 files changed, 22 insertions(+), 17 deletions(-)

diff --git a/include/observers/bemf_observer.hpp b/include/observers/bemf_observer.hpp
index 77a8c75..63443c5 100644
--- a/include/observers/bemf_observer.hpp
+++ b/include/observers/bemf_observer.hpp
@@ -15,7 +15,7 @@ struct BemfOutput
 
 class BemfObserver
 {
-  BemfSolver dq_update;
+  DQUpdate dq_update;
   Tracker tracker;
   float speed_prev, angle_prev, Vbus_prev;
 
diff --git a/include/observers/dq_update.hpp b/include/observers/dq_update.hpp
index d0df65f..3eb9cfc 100644
--- a/include/observers/dq_update.hpp
+++ b/include/observers/dq_update.hpp
@@ -43,7 +43,7 @@ struct ExtBemfParams
 struct BemfGains
 {
   float VOLTAGE_GAIN, CURRENT_GAIN, EMF_GAIN, SPEED_CURRENT_GAIN;
-  BemfGains(float Ld, float Lq, float Rs, float Ts, int axis)
+  BemfGains(float Ld, float Lq, float Rs, float Ts, bool axis)
   {
     if (axis == 0)
     {
@@ -52,7 +52,7 @@ struct BemfGains
       EMF_GAIN = Ts / (2 * Ld + Rs * Ts);
       SPEED_CURRENT_GAIN = (2 * Ld - Rs * Ts) / (2 * Ld + Rs * Ts);
     }
-    if (axis == 1)
+    else if (axis == 1)
     {
       VOLTAGE_GAIN = Ts / (2 * Lq + Rs * Ts);
       CURRENT_GAIN = -Ld * Ts / (2 * Lq + Rs * Ts);
@@ -60,17 +60,22 @@ struct BemfGains
       SPEED_CURRENT_GAIN = (2 * Lq - Rs * Ts) / (2 * Lq + Rs * Ts);
     }
   }
+  BemfGains() : VOLTAGE_GAIN(0), CURRENT_GAIN(0), EMF_GAIN(0), SPEED_CURRENT_GAIN(0)
+  {
+  }
 };
 
-class BemfSolver
+class DQUpdate
 {
   math::FrameDQ I_prev, X_prev, E;
   controllers::PIController d_axis, q_axis;
 
 public:
-  BemfSolver();
-  float loop(math::FrameAlphaBeta currents, math::FrameAlphaBeta voltages, const controllers::PIConfig& config,
-             const BemfGains& gains, float angular_velocity, float rotor_angle,
+  DQUpdate();
+  controllers::PIConfig config;
+  BemfGains gains;
+
+  float loop(math::FrameAlphaBeta currents, math::FrameAlphaBeta voltages, float angular_velocity, float rotor_angle,
              const SetBemfParams& set_params = SetBemfParams(), const ExtBemfParams& ext_params = ExtBemfParams());
   math::FrameDQ get_emfs() const;
 };
diff --git a/include/observers/tracker.hpp b/include/observers/tracker.hpp
index f2c5672..a9dde5e 100644
--- a/include/observers/tracker.hpp
+++ b/include/observers/tracker.hpp
@@ -35,8 +35,9 @@ class Tracker
   math::integrator angle_integrator;
 
 public:
+  controllers::PIConfig config;
   Tracker() = default;
-  float loop(float phase_error, controllers::PIConfig config, const SetTrackerParams& params = SetTrackerParams(),
+  float loop(float phase_error, const SetTrackerParams& params = SetTrackerParams(),
              const ExtTrackerParams& ext_params = ExtTrackerParams());
   float speed_tracker(float angle_est, float Ts);
 };
diff --git a/src/observers/bemf_observer.cpp b/src/observers/bemf_observer.cpp
index ac22867..eb581e3 100644
--- a/src/observers/bemf_observer.cpp
+++ b/src/observers/bemf_observer.cpp
@@ -38,19 +38,19 @@ observers::BemfOutput observers::BemfObserver::loop(math::FrameABC line_currents
     voltages.beta = voltages.beta * Vbus;
   }
 
-  const observers::BemfGains bemf_gains(0.0001, 0.0001, 0.1, Ts, 0);
-  const controllers::PIConfig update_config = [freq_mode, opmode, Ts]() {
+  dq_update.gains = observers::BemfGains(0.0001, 0.0001, 0.1, Ts, 0);
+  dq_update.config = [freq_mode, opmode, Ts]() {
     controllers::PIConfig config = { 0.1, 0.1, Ts, -180, 180 };
     return config;
   }();
-  const controllers::PIConfig track_config = [freq_mode, opmode, Ts]() {
+  tracker.config = [freq_mode, opmode, Ts]() {
     controllers::PIConfig config = { 0.1, 0.1, Ts, -180, 180 };
     return config;
   }();
 
-  float phase_error = dq_update.loop(currents, voltages, update_config, bemf_gains, speed_prev, angle_prev,
+  float phase_error = dq_update.loop(currents, voltages, speed_prev, angle_prev,
                                      set_bemf_params, ext_bemf_params);
-  float angle = tracker.loop(phase_error, track_config, set_tracker_params, ext_tracker_params);
+  float angle = tracker.loop(phase_error, set_tracker_params, ext_tracker_params);
   float speed = tracker.speed_tracker(angle, Ts);
 
   // Process Tracker Output
diff --git a/src/observers/dq_update.cpp b/src/observers/dq_update.cpp
index 48404c3..e06f629 100644
--- a/src/observers/dq_update.cpp
+++ b/src/observers/dq_update.cpp
@@ -1,12 +1,11 @@
 #include <observers/dq_update.hpp>
 #include <math/functions.hpp>
 
-observers::BemfSolver::BemfSolver() : I_prev(0, 0), X_prev(0, 0), E(0, 0)
+observers::DQUpdate::DQUpdate() : I_prev(0, 0), X_prev(0, 0), E(0, 0)
 {
 }
 
-float observers::BemfSolver::loop(math::FrameAlphaBeta currents, math::FrameAlphaBeta voltages,
-                                  const controllers::PIConfig& config, const BemfGains& gains, float angular_velocity,
+float observers::DQUpdate::loop(math::FrameAlphaBeta currents, math::FrameAlphaBeta voltages, float angular_velocity,
                                   float rotor_angle, const SetBemfParams& set_params, const ExtBemfParams& ext_params)
 {
   math::FrameDQ I_est, error, X;
@@ -42,7 +41,7 @@ float observers::BemfSolver::loop(math::FrameAlphaBeta currents, math::FrameAlph
   return math::atan2(E.d, E.q);
 }
 
-math::FrameDQ observers::BemfSolver::get_emfs() const
+math::FrameDQ observers::DQUpdate::get_emfs() const
 {
   return E;
 }