[Bridge] Update 3 phase bridge current convention

hwbridge/3phase/bridge_3phase.hpp

@@ -57,25 +57,19 @@ class Bridge3Phase {
      */
     class phase_voltage_t {
        public:
-        /**
-         * @brief Phase U voltage
-         */
+        /// @brief Phase U voltage
         float u = 0.0f;
 
-        /**
-         * @brief Phase V voltage
-         */
+        /// @brief Phase V voltage
         float v = 0.0f;
 
-        /**
-         * @brief Phase W voltage
-         */
+        /// @brief Phase W voltage
         float w = 0.0f;
 
         /**
          * @brief Equal operator
          * @param rhs The right hand side of the operator
-         * @return bool True if the phase voltages are equal
+         * @return True if the phase voltages are equal, false otherwise
          */
         bool operator==(const phase_voltage_t& rhs) const {
             const bool u_equal = math::float_equals(this->u, rhs.u);
@@ -87,34 +81,29 @@ class Bridge3Phase {
 
     /**
      * @brief Phase current readings in Amps
+     * @note Convention is that positive current is going into the stator neutral point
      */
     class phase_current_t {
        public:
         phase_current_t() = default;
         /**
          * @brief Construct a phase current
-         * @param u Phase U current
-         * @param v Phase V current
-         * @param w Phase W current
+         * @param u Phase U current (A)
+         * @param v Phase V current (A)
+         * @param w Phase W current (A)
          */
         phase_current_t(float u, float v, float w) : u(u), v(v), w(w) {}
-        /**
-         * @brief Phase U current
-         */
+        /// @brief Phase U current (A)
         float u = 0.0f;
-        /**
-         * @brief Phase V current
-         */
+        /// @brief Phase V current (A)
         float v = 0.0f;
-        /**
-         * @brief Phase W current
-         */
+        /// @brief Phase W current (A)
         float w = 0.0f;
 
         /**
          * @brief Equal operator
          * @param rhs The right hand side of the operator
-         * @return bool True if the phase currents are equal
+         * @return True if the phase currents are equal, false otherwise
          */
         bool operator==(const phase_current_t& rhs) const {
             const bool u_equal = math::float_equals(this->u, rhs.u);

hwbridge/3phase/phase_inductance_estimator.cpp

@@ -57,7 +57,8 @@ PhaseInductanceEstimatorController::Result PhaseInductanceEstimatorController::r
             // Calculate the phase inductance
             // TODO: Perhaps take an average of the bus voltage during the measurement period? But it's likely super fast anyways
             const float bus_voltage = input.bus_voltage;
-            const float current = input.phase_currents.u;
+            const float current =
+                input.phase_currents.u * -1.0f;  // Negative current as positive current is going into the stator neutral
             // V = 3/2*L_s * di/dt
             // L_s = 2/3 * V / di/dt
             // Note: the L_s is the phase inductance in a 3-phase system. When we measure the current in the singular phase that

hwbridge/3phase/phase_resistance_estimator.cpp

@@ -100,7 +100,9 @@ PhaseResistanceEstimatorController::State PhaseResistanceEstimatorController::de
         case State::MEASUREMENT_IN_PROGRESS: {
             const utime_t measurement_end_time = measurement_start_time_ + params_.measurement_duration;
             if (current_time >= measurement_end_time) {
-                const float current_diff = fabsf(params_.target_current - input.phase_currents.u);
+                const float input_current =
+                    input.phase_currents.u * -1.0f;  // Negative current as positive current is going into the stator neutral
+                const float current_diff = fabsf(params_.target_current - input_current);
                 const bool is_current_within_tolerance = (current_diff <= params_.current_tolerance);
                 if (is_current_within_tolerance) {
                     ret = State::ESTIMATE_COMPLETE;

test/phase_Lest_test.cpp

@@ -160,7 +160,7 @@ void init_and_ready_to_finish_measurement_in_progress(basilisk_hal::MOCK_HAL_CLO
 
     PhaseInductanceEstimatorControllerPublic::Input input;
     input.bus_voltage = 24.0f;
-    input.phase_currents.u = 1.0f;
+    input.phase_currents.u = -1.0f;
     input.phase_currents.v = 0.0f;
     input.phase_currents.w = 0.0f;
 
@@ -172,7 +172,7 @@ void init_and_ready_to_finish_measurement_in_progress(basilisk_hal::MOCK_HAL_CLO
     // Set the clock to be just after the measurement duration has elapsed
     const utime_t faked_time_3 = faked_time + params.measurement_duration;
     EXPECT_CALL(mock_clock, get_time_us()).WillRepeatedly(Return(faked_time_3));
-    input.phase_currents.u = 1.0f;
+    input.phase_currents.u = -1.0f;
 }
 
 // Test that we transition from MEASUREMENT_IN_PROGRESS to ESTIMATE_COMPLETE after the measurement duration has elapsed
@@ -230,7 +230,7 @@ TEST(PhaseInductanceEstimatorControllerTest, test_measurement_in_progress_to_est
     EXPECT_CALL(mock_clock, get_time_us()).WillRepeatedly(Return(faked_time_3));
 
     // Run the controller again
-    input.phase_currents.u = 1.6f;
+    input.phase_currents.u = -1.6f;
     result = controller.run_phase_inductance_estimator(input);
 
     // Check that the state is ESTIMATE_COMPLETE
@@ -280,7 +280,7 @@ TEST(PhaseInductanceEstimatorControllerTest, test_measurement_in_progress_to_err
     init_and_ready_to_finish_measurement_in_progress(mock_clock, controller, params);
     PhaseInductanceEstimatorControllerPublic::Input input;
     input.bus_voltage = 0.0f;
-    input.phase_currents.u = 1.0f;
+    input.phase_currents.u = -1.0f;
     input.phase_currents.v = 0.0f;
     input.phase_currents.w = 0.0f;
 

test/phase_Rest_test.cpp

@@ -174,7 +174,7 @@ TEST(PhaseResistanceEstimatorControllerTest, test_measurement_in_progress_to_est
     EXPECT_CALL(mock_clock, get_time_us()).WillRepeatedly(Return(faked_time_2));
 
     // Make the current the same as the target current
-    input.phase_currents.u = params.target_current;
+    input.phase_currents.u = -params.target_current;
     result = controller.run_phase_resistance_estimator(input);
 
     // Check that the state is MEASUREMENT_IN_PROGRESS
@@ -224,7 +224,7 @@ TEST(PhaseResistanceEstimatorController, test_current_not_within_margin) {
     EXPECT_CALL(mock_clock, get_time_us()).WillRepeatedly(Return(faked_time_2));
 
     // Make the current the same as the target current minus the margin plus a little bit
-    input.phase_currents.u = params.target_current - (params.current_tolerance + 0.01f);
+    input.phase_currents.u = -(params.target_current - (params.current_tolerance + 0.01f));
 
     result = controller.run_phase_resistance_estimator(input);