From 9af9ea0bf09e8bca42d3fa00b93444d36cebef85 Mon Sep 17 00:00:00 2001
From: Oskar Weigl <oskar.weigl@gmail.com>
Date: Wed, 15 May 2019 23:05:02 -0700
Subject: [PATCH] add axis_num member

---
 Firmware/MotorControl/axis.cpp | 6 ++++--
 Firmware/MotorControl/axis.hpp | 4 +++-
 Firmware/MotorControl/main.cpp | 2 +-
 3 files changed, 8 insertions(+), 4 deletions(-)

diff --git a/Firmware/MotorControl/axis.cpp b/Firmware/MotorControl/axis.cpp
index 80987c00..480ed4c1 100644
--- a/Firmware/MotorControl/axis.cpp
+++ b/Firmware/MotorControl/axis.cpp
@@ -6,14 +6,16 @@
 #include "utils.h"
 #include "odrive_main.h"
 
-Axis::Axis(const AxisHardwareConfig_t& hw_config,
+Axis::Axis(int axis_num,
+           const AxisHardwareConfig_t& hw_config,
            Config_t& config,
            Encoder& encoder,
            SensorlessEstimator& sensorless_estimator,
            Controller& controller,
            Motor& motor,
            TrapezoidalTrajectory& trap)
-    : hw_config_(hw_config),
+    : axis_num_(axis_num),
+      hw_config_(hw_config),
       config_(config),
       encoder_(encoder),
       sensorless_estimator_(sensorless_estimator),
diff --git a/Firmware/MotorControl/axis.hpp b/Firmware/MotorControl/axis.hpp
index 9e78fdab..179ae1ae 100644
--- a/Firmware/MotorControl/axis.hpp
+++ b/Firmware/MotorControl/axis.hpp
@@ -80,7 +80,8 @@ public:
         LOCKIN_STATE_CONST_VEL,
     };
 
-    Axis(const AxisHardwareConfig_t& hw_config,
+    Axis(int axis_num,
+            const AxisHardwareConfig_t& hw_config,
             Config_t& config,
             Encoder& encoder,
             SensorlessEstimator& sensorless_estimator,
@@ -183,6 +184,7 @@ public:
 
     void run_state_machine_loop();
 
+    int axis_num_;
     const AxisHardwareConfig_t& hw_config_;
     Config_t& config_;
 
diff --git a/Firmware/MotorControl/main.cpp b/Firmware/MotorControl/main.cpp
index 427792b3..d5acf252 100644
--- a/Firmware/MotorControl/main.cpp
+++ b/Firmware/MotorControl/main.cpp
@@ -169,7 +169,7 @@ int odrive_main(void) {
                                  hw_configs[i].gate_driver_config,
                                  motor_configs[i]);
         TrapezoidalTrajectory *trap = new TrapezoidalTrajectory(trap_configs[i]);
-        axes[i] = new Axis(hw_configs[i].axis_config, axis_configs[i],
+        axes[i] = new Axis(i, hw_configs[i].axis_config, axis_configs[i],
                 *encoder, *sensorless_estimator, *controller, *motor, *trap);
     }