From 088d26a2c3af77c321fb4e7a41289252bddbf30d Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?S=C3=BCha=20=C3=9Cn=C3=BCvar?=
 <87157627+phycrax@users.noreply.github.com>
Date: Fri, 4 Jul 2025 10:40:23 +0800
Subject: [PATCH 1/2] use param instead of const generics for pwm resolution

---
 src/lib.rs | 9 ++++++---
 src/pwm.rs | 6 +++---
 2 files changed, 9 insertions(+), 6 deletions(-)

diff --git a/src/lib.rs b/src/lib.rs
index 47b0b37..91ed5a9 100644
--- a/src/lib.rs
+++ b/src/lib.rs
@@ -18,22 +18,25 @@ const SQRT_3: I16F16 = I16F16::lit("1.7320508");
 /// If this controller does not match the exact setup that you desire, then all
 /// of the underlying algorithms are available to use instead (see the
 /// [`park_clarke`], [`pwm`], and [`pid`] modules).
-pub struct Foc<Modulator: pwm::Modulation, const PWM_RESOLUTION: u16> {
+pub struct Foc<Modulator: pwm::Modulation> {
     flux_current_controller: pid::PIController,
     torque_current_controller: pid::PIController,
+    max_pwm_duty: u16,
     _phantom: PhantomData<Modulator>,
 }
 
-impl<Modulator: pwm::Modulation, const PWM_RESOLUTION: u16> Foc<Modulator, PWM_RESOLUTION> {
+impl<Modulator: pwm::Modulation> Foc<Modulator> {
     /// Create a new FOC controller with the desired PI controllers for the flux
     /// and torque components.
     pub fn new(
         flux_current_controller: pid::PIController,
         torque_current_controller: pid::PIController,
+        max_pwm_duty: u16,
     ) -> Self {
         Self {
             flux_current_controller,
             torque_current_controller,
+            max_pwm_duty,
             _phantom: PhantomData,
         }
     }
@@ -83,6 +86,6 @@ impl<Modulator: pwm::Modulation, const PWM_RESOLUTION: u16> Foc<Modulator, PWM_R
         );
 
         // Modulate the result to PWM values
-        Modulator::as_compare_value::<PWM_RESOLUTION>(orthogonal_voltage)
+        Modulator::as_compare_value(orthogonal_voltage, self.max_pwm_duty)
     }
 }
diff --git a/src/pwm.rs b/src/pwm.rs
index 43132d9..7a19549 100644
--- a/src/pwm.rs
+++ b/src/pwm.rs
@@ -13,12 +13,12 @@ pub trait Modulation {
 
     /// Module the value, returning the result as a value between 0 and the specified
     /// maximum value inclusive.
-    fn as_compare_value<const MAX: u16>(value: TwoPhaseReferenceFrame) -> [u16; 3] {
+    fn as_compare_value(value: TwoPhaseReferenceFrame, max: u16) -> [u16; 3] {
         Self::modulate(value).map(|val| {
-            (((val + I16F16::from_num(1)) * (MAX as i32 + 1)) / 2)
+            (((val + I16F16::from_num(1)) * (max as i32 + 1)) / 2)
                 .round()
                 .saturating_to_num::<u16>()
-                .clamp(0, MAX)
+                .clamp(0, max)
         })
     }
 }

From cadb2df7d566d763dffd024f3edd8035b88c4fab Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?S=C3=BCha=20=C3=9Cn=C3=BCvar?=
 <87157627+phycrax@users.noreply.github.com>
Date: Thu, 10 Jul 2025 19:32:20 +0800
Subject: [PATCH 2/2] correct pid error measurement

---
 src/pid.rs | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/src/pid.rs b/src/pid.rs
index 639bcdd..dc8a93e 100644
--- a/src/pid.rs
+++ b/src/pid.rs
@@ -21,8 +21,8 @@ impl PIController {
     }
 
     /// Update the PI controller, returning the new output value.
-    pub fn update(&mut self, measurement: I16F16, setpoint: I16F16, dt: I16F16) -> I16F16 {
-        let error = measurement - setpoint;
+    pub fn update(&mut self, setpoint: I16F16, measurement: I16F16, dt: I16F16) -> I16F16 {
+        let error = setpoint - measurement;
         self.k_p * error + self.integral.update(error, dt)
     }
 }
@@ -54,8 +54,8 @@ impl PIDController {
     }
 
     /// Update the PID controller, returning the new output value.
-    pub fn update(&mut self, measurement: I16F16, setpoint: I16F16, dt: I16F16) -> I16F16 {
-        let error = measurement - setpoint;
+    pub fn update(&mut self, setpoint: I16F16, measurement: I16F16, dt: I16F16) -> I16F16 {
+        let error = setpoint - measurement;
         self.k_p * error + self.integral.update(error, dt) + self.derivative.update(measurement, dt)
     }
 }