From 37e01b986582616b7fb091562f5b5c5ce9ff9afb Mon Sep 17 00:00:00 2001
From: Oskar Weigl <oskar.weigl@gmail.com>
Date: Tue, 15 May 2018 17:27:12 -0700
Subject: [PATCH] move bandwith to config

---
 Firmware/MotorControl/encoder.cpp | 2 +-
 Firmware/MotorControl/encoder.hpp | 4 ++--
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/Firmware/MotorControl/encoder.cpp b/Firmware/MotorControl/encoder.cpp
index d19d533b..cf24a9a0 100644
--- a/Firmware/MotorControl/encoder.cpp
+++ b/Firmware/MotorControl/encoder.cpp
@@ -230,7 +230,7 @@ static bool decode_hall(uint8_t hall_state, int32_t* hall_cnt) {
 
 bool Encoder::update() {
     // Calculate encoder pll gains
-    float pll_kp = 2.0f * bandwidth_; // basic conversion to discrete time
+    float pll_kp = 2.0f * config_.bandwidth;  // basic conversion to discrete time
     float pll_ki = 0.25f * (pll_kp * pll_kp); // Critically damped
 
     // Check that we don't get problems with discrete time approximation
diff --git a/Firmware/MotorControl/encoder.hpp b/Firmware/MotorControl/encoder.hpp
index 5e63e13b..86bc9b73 100644
--- a/Firmware/MotorControl/encoder.hpp
+++ b/Firmware/MotorControl/encoder.hpp
@@ -35,6 +35,7 @@ public:
                             // index search succeeds
         float offset_float = 0.0f; // Sub-count phase alignment offset
         float calib_range = 0.02f;
+        float bandwidth = 1000.0f;
     };
 
     Encoder(const EncoderHardwareConfig_t& hw_config,
@@ -72,7 +73,6 @@ public:
     float pll_vel_ = 0.0f;  // [rad/s]
     // float pll_kp_ = 0.0f;   // [rad/s / rad]
     // float pll_ki_ = 0.0f;   // [(rad/s^2) / rad]
-    float bandwidth_ = 1000.0f; // [/s]
 
     // Updated by low_level pwm_adc_cb
     uint8_t hall_state_ = 0x0; // bit[0] = HallA, .., bit[2] = HallC
@@ -102,7 +102,7 @@ public:
                 make_protocol_property("cpr", &config_.cpr),
                 make_protocol_property("offset", &config_.offset),
                 make_protocol_property("offset_float", &config_.offset_float),
-                make_protocol_property("bandwidth", &bandwidth_),
+                make_protocol_property("bandwidth", &config_.bandwidth),
                 make_protocol_property("calib_range", &config_.calib_range)
             )
         );