diff --git a/include/math/foc.hpp b/include/math/foc.hpp
index dd01eeb..b750793 100644
--- a/include/math/foc.hpp
+++ b/include/math/foc.hpp
@@ -2,39 +2,39 @@
 
 namespace math
 {
-struct frame_abc
+struct FrameABC
 {
   float a, b, c;
-  frame_abc() = default;
-  frame_abc(float a, float b, float c) : a(a), b(b), c(c)
+  FrameABC() = default;
+  FrameABC(float a, float b, float c) : a(a), b(b), c(c)
   {
   }
 };
 
-struct frame_alpha_beta
+struct FrameAlphaBeta
 {
   float alpha, beta;
-  frame_alpha_beta() = default;
-  frame_alpha_beta(float alpha, float beta) : alpha(alpha), beta(beta)
+  FrameAlphaBeta() = default;
+  FrameAlphaBeta(float alpha, float beta) : alpha(alpha), beta(beta)
   {
   }
 };
 
-struct frame_dq
+struct FrameDQ
 {
   float d, q;
-  frame_dq() = default;
-  frame_dq(float d, float q) : d(d), q(q)
+  FrameDQ() = default;
+  FrameDQ(float d, float q) : d(d), q(q)
   {
   }
 };
 
-frame_alpha_beta clarke_transform(frame_abc X);
+FrameAlphaBeta clarke_transform(FrameABC X);
 
-frame_dq park_transform(frame_alpha_beta X, float angle);
+FrameDQ park_transform(FrameAlphaBeta X, float angle);
 
-frame_abc inverse_clarke_transform(frame_alpha_beta X);
+FrameABC inverse_clarke_transform(FrameAlphaBeta X);
 
-frame_alpha_beta inverse_park_transform(frame_dq X, float angle);
+FrameAlphaBeta inverse_park_transform(FrameDQ X, float angle);
 
 }  // namespace math
diff --git a/include/observers/bemf_observer.hpp b/include/observers/bemf_observer.hpp
index ad3dff3..3a3c47b 100644
--- a/include/observers/bemf_observer.hpp
+++ b/include/observers/bemf_observer.hpp
@@ -20,9 +20,9 @@ class BemfObserver
     float speed_prev, angle_prev, Vbus_prev;
   public:
     BemfObserver();
-    BemfOutput loop(math::frame_abc line_currents, math::frame_abc line_voltages, math::frame_abc duties, 
-                float Vbus, const float Ts, const SetBemfParams& set_bemf_params, const SetTrackerParams& set_tracker_params, 
-                const ExtBemfParams& ext_bemf_params, const ExtTrackerParams& ext_tracker_params, uint8_t pos_obs_mode, uint8_t idle_mode, 
+    BemfOutput loop(math::FrameABC line_currents, math::FrameABC line_voltages, math::FrameABC duties,
+                float Vbus, const float Ts, const SetBemfParams& set_bemf_params, const SetTrackerParams& set_tracker_params,
+                const ExtBemfParams& ext_bemf_params, const ExtTrackerParams& ext_tracker_params, uint8_t pos_obs_mode, uint8_t idle_mode,
                 uint8_t opmode, const uint8_t num_rotor_poles, const uint8_t freq_mode, bool force_bemf, bool en_dis_6_step_comm);
 };
 } // namespace observers
diff --git a/include/observers/dq_update.hpp b/include/observers/dq_update.hpp
index cb89932..4e71970 100644
--- a/include/observers/dq_update.hpp
+++ b/include/observers/dq_update.hpp
@@ -48,14 +48,14 @@ struct BemfGains
 
 class BemfSolver
 {
-  math::frame_dq I_prev, X_prev, E;
+  math::FrameDQ I_prev, X_prev, E;
   controllers::PIController d_axis, q_axis;
 
 public:
   BemfSolver();
-  float loop(math::frame_alpha_beta currents, math::frame_alpha_beta voltages, const controllers::PIConfig& config, 
+  float loop(math::FrameAlphaBeta currents, math::FrameAlphaBeta voltages, const controllers::PIConfig& config,
               const BemfGains& gains, float angular_velocity, float rotor_angle,
               const SetBemfParams& set_params = SetBemfParams(), const ExtBemfParams& ext_params = ExtBemfParams());
-  math::frame_dq get_emfs() const;
+  math::FrameDQ get_emfs() const;
 };
 }  // namespace observers
diff --git a/src/math/foc.cpp b/src/math/foc.cpp
index c8343f1..efed937 100644
--- a/src/math/foc.cpp
+++ b/src/math/foc.cpp
@@ -1,35 +1,35 @@
 #include <math/foc.hpp>
 #include <math/functions.hpp>
 
-math::frame_alpha_beta math::clarke_transform(math::frame_abc X)
+math::FrameAlphaBeta math::clarke_transform(math::FrameABC X)
 {
-  math::frame_alpha_beta Y;
+  math::FrameAlphaBeta Y;
   Y.alpha = X.a;
   Y.beta = (X.b - X.c) * 0.5773;
   return Y;
 }
 
-math::frame_dq math::park_transform(math::frame_alpha_beta X, float angle)
+math::FrameDQ math::park_transform(math::FrameAlphaBeta X, float angle)
 {
-  math::frame_dq Y;
+  math::FrameDQ Y;
   float cosine = math::cos(angle), sine = math::sin(angle);
   Y.d = X.alpha * cosine + X.beta * sine;
   Y.q = -X.alpha * sine + X.beta * cosine;
   return Y;
 }
 
-math::frame_abc math::inverse_clarke_transform(math::frame_alpha_beta X)
+math::FrameABC math::inverse_clarke_transform(math::FrameAlphaBeta X)
 {
-  math::frame_abc Y;
+  math::FrameABC Y;
   Y.a = X.alpha;
   Y.b = -0.5 * X.alpha + 0.866 * X.beta;
   Y.c = -0.5 * X.alpha - 0.866 * X.beta;
   return Y;
 }
 
-math::frame_alpha_beta math::inverse_park_transform(math::frame_dq X, float angle)
+math::FrameAlphaBeta math::inverse_park_transform(math::FrameDQ X, float angle)
 {
-  math::frame_alpha_beta Y;
+  math::FrameAlphaBeta Y;
   float cosine = math::cos(angle), sine = math::sin(angle);
   Y.alpha = X.d * cosine - X.q * sine;
   Y.beta = X.d * sine + X.q * cosine;
diff --git a/src/observers/bemf_observer.cpp b/src/observers/bemf_observer.cpp
index f69a328..f3a4b30 100644
--- a/src/observers/bemf_observer.cpp
+++ b/src/observers/bemf_observer.cpp
@@ -4,15 +4,15 @@ observers::BemfObserver::BemfObserver() : speed_prev(0), angle_prev(0)
 {
 }
 
-observers::BemfOutput observers::BemfObserver::loop(math::frame_abc line_currents, math::frame_abc line_voltages, math::frame_abc duties, 
-                float Vbus, const float Ts, const SetBemfParams& set_bemf_params, const SetTrackerParams& set_tracker_params, 
-                const ExtBemfParams& ext_bemf_params, const ExtTrackerParams& ext_tracker_params, uint8_t pos_obs_mode, uint8_t idle_mode, 
+observers::BemfOutput observers::BemfObserver::loop(math::FrameABC line_currents, math::FrameABC line_voltages, math::FrameABC duties,
+                float Vbus, const float Ts, const SetBemfParams& set_bemf_params, const SetTrackerParams& set_tracker_params,
+                const ExtBemfParams& ext_bemf_params, const ExtTrackerParams& ext_tracker_params, uint8_t pos_obs_mode, uint8_t idle_mode,
                 uint8_t opmode, const uint8_t num_rotor_poles, const uint8_t freq_mode, bool force_bemf, bool en_dis_6_step_comm)
 {
   observers::BemfOutput output;
 
-  math::frame_alpha_beta currents = math::clarke_transform(line_currents);
-  math::frame_alpha_beta voltages;
+  math::FrameAlphaBeta currents = math::clarke_transform(line_currents);
+  math::FrameAlphaBeta voltages;
   if(idle_mode)
     voltages = math::clarke_transform(line_voltages);
   else {
@@ -21,7 +21,7 @@ observers::BemfOutput observers::BemfObserver::loop(math::frame_abc line_current
     Vbus_prev = Vbus;
 
     // Duty Correction
-    math::frame_abc duty_corrected;
+    math::FrameABC duty_corrected;
     float duty_average = (duties.a + duties.b + duties.c) / 3;
     duty_corrected.a = duties.a - duty_average;
     duty_corrected.b = duties.b - duty_average;
@@ -94,7 +94,7 @@ observers::BemfOutput observers::BemfObserver::loop(math::frame_abc line_current
       return angle_deg;
   }();
 
-  //Bemf Stablility SMD
+  //Bemf Stability SMD
   if(pos_obs_mode == 2) {
 
   }
@@ -109,4 +109,4 @@ observers::BemfOutput observers::BemfObserver::loop(math::frame_abc line_current
   angle_prev = angle;
 
   return output;
-}
\ No newline at end of file
+}
diff --git a/src/observers/dq_update.cpp b/src/observers/dq_update.cpp
index e7ce479..abfbe67 100644
--- a/src/observers/dq_update.cpp
+++ b/src/observers/dq_update.cpp
@@ -5,14 +5,14 @@ observers::BemfSolver::BemfSolver() : I_prev(0, 0), X_prev(0, 0), E(0, 0)
 {
 }
 
-float observers::BemfSolver::loop(math::frame_alpha_beta currents, math::frame_alpha_beta voltages, const controllers::PIConfig& config, 
-                                    const BemfGains& gains, float angular_velocity, float rotor_angle, 
+float observers::BemfSolver::loop(math::FrameAlphaBeta currents, math::FrameAlphaBeta voltages, const controllers::PIConfig& config,
+                                    const BemfGains& gains, float angular_velocity, float rotor_angle,
                                     const SetBemfParams& set_params, const ExtBemfParams& ext_params)
 {
-  math::frame_dq I_est, error, X;
+  math::FrameDQ I_est, error, X;
 
-  math::frame_dq I = math::park_transform(currents, rotor_angle);
-  math::frame_dq V = math::park_transform(voltages, rotor_angle);
+  math::FrameDQ I = math::park_transform(currents, rotor_angle);
+  math::FrameDQ V = math::park_transform(voltages, rotor_angle);
 
   X.d = gains.VOLTAGE_GAIN * V.d + gains.SPEED_CURRENT_GAIN * I.q * angular_velocity + gains.EMF_GAIN * E.d;
   X.q = gains.VOLTAGE_GAIN * V.q + gains.SPEED_CURRENT_GAIN * I.d * angular_velocity + gains.EMF_GAIN * E.q;
@@ -42,7 +42,7 @@ float observers::BemfSolver::loop(math::frame_alpha_beta currents, math::frame_a
   return math::atan2(E.d, E.q);
 }
 
-math::frame_dq observers::BemfSolver::get_emfs() const
+math::FrameDQ observers::BemfSolver::get_emfs() const
 {
   return E;
 }
diff --git a/tests/bemf_observer_test.cpp b/tests/bemf_observer_test.cpp
index 26f45de..7143a00 100644
--- a/tests/bemf_observer_test.cpp
+++ b/tests/bemf_observer_test.cpp
@@ -6,14 +6,13 @@
 #include <controllers/pi_controller.hpp>
 #define Ts 1e-4
 
-int main() 
+int main()
 {
   observers::BemfGains gains(1, 1, 1, Ts, 0);
   observers::BemfObserver bemf_observer;
 
-  math::frame_abc line_currents;
-  math::frame_abc line_voltages;
-  math::frame_dq U;
+  math::FrameABC line_currents, line_voltages;
+  math::FrameDQ U;
   float angle = 0, Vbus = 12;
   observers::SetBemfParams set_bemf_params;
   observers::SetTrackerParams set_tracker_params;
@@ -24,9 +23,9 @@ int main()
 
   for(float t = 0; t < 10; t += Ts)
   {
-    math::frame_abc duties = math::inverse_clarke_transform(math::inverse_park_transform(U, angle));
+    math::FrameABC duties = math::inverse_clarke_transform(math::inverse_park_transform(U, angle));
     observers::BemfOutput output = bemf_observer.loop(line_currents, line_voltages, duties, Vbus, Ts, set_bemf_params, set_tracker_params, ext_bemf_params, ext_tracker_params, pos_obs_mode, idle_mode, opmode, num_rotor_poles, freq_mode, force_bemf, en_dis_6_step_comm);
     angle = output.e_theta_deg;
     std::cout << "Duties: " << duties.a << " " << duties.b << " " << duties.c << std::endl;
   }
-}
\ No newline at end of file
+}