From 53d653ad859d2271e40ac2cef500c2549146b0df Mon Sep 17 00:00:00 2001
From: Ben Hall <rcmast3r1@gmail.com>
Date: Sat, 21 Sep 2024 11:38:44 -0400
Subject: [PATCH] making the veh_vec constuctor actually a constructor

---
 lib/interfaces/include/HytechCANInterface.h   |  1 -
 lib/interfaces/include/LoadCellInterface.h    | 13 +++++---
 lib/interfaces/src/DrivebrainETHInterface.cpp |  8 ++---
 lib/shared_data/include/Utility.h             | 30 ++++++++++---------
 src/main.cpp                                  |  1 -
 5 files changed, 27 insertions(+), 26 deletions(-)

diff --git a/lib/interfaces/include/HytechCANInterface.h b/lib/interfaces/include/HytechCANInterface.h
index 8f3b4c7e2..b2c2249fa 100644
--- a/lib/interfaces/include/HytechCANInterface.h
+++ b/lib/interfaces/include/HytechCANInterface.h
@@ -14,7 +14,6 @@
 #include "VectornavInterface.h"
 #include "HT08_CASE_types.h"
 #include "MessageQueueDefine.h"
-#include "DrivebrainInterface.h"
 /*
     struct holding interfaces processed by process_ring_buffer()
     FL = MC1
diff --git a/lib/interfaces/include/LoadCellInterface.h b/lib/interfaces/include/LoadCellInterface.h
index 7d5dc4d0c..f0e260f36 100644
--- a/lib/interfaces/include/LoadCellInterface.h
+++ b/lib/interfaces/include/LoadCellInterface.h
@@ -19,6 +19,14 @@ struct LoadCellInterfaceTick_s
 
 class LoadCellInterface
 {
+public:
+    LoadCellInterface() {
+        loadCellConversions_ = veh_vec<AnalogConversion_s>();
+        loadCellForcesUnfiltered_ = veh_vec<float[numFIRTaps_]>();
+        loadCellForcesFiltered_ = veh_vec<float>();
+    }
+    void tick(const LoadCellInterfaceTick_s &intake);
+    LoadCellInterfaceOutput_s getLoadCellForces();
 private:
     /*
     FIR filter designed with
@@ -50,10 +58,7 @@ class LoadCellInterface
     veh_vec<float[numFIRTaps_]> loadCellForcesUnfiltered_;
     veh_vec<float> loadCellForcesFiltered_;
     bool FIRSaturated_ = false;
-public:
-    LoadCellInterface() {}
-    void tick(const LoadCellInterfaceTick_s &intake);
-    LoadCellInterfaceOutput_s getLoadCellForces();
+
 };
 
 #endif
\ No newline at end of file
diff --git a/lib/interfaces/src/DrivebrainETHInterface.cpp b/lib/interfaces/src/DrivebrainETHInterface.cpp
index 4e1f90c66..ef092d2c5 100644
--- a/lib/interfaces/src/DrivebrainETHInterface.cpp
+++ b/lib/interfaces/src/DrivebrainETHInterface.cpp
@@ -16,13 +16,9 @@ hytech_msgs_MCUOutputData DrivebrainETHInterface::make_db_msg(const SharedCarSta
 
 void DrivebrainETHInterface::receive_pb_msg(const hytech_msgs_MCUCommandData &msg_in, unsigned long curr_millis)
 {
-    // Serial.println("msg recvd in here");
-    veh_vec<float> nm_lim;
-    nm_lim.construct(msg_in.torque_limit_nm.FL, msg_in.torque_limit_nm.FR, msg_in.torque_limit_nm.RL, msg_in.torque_limit_nm.RR);
+    veh_vec<float> nm_lim(msg_in.torque_limit_nm.FL, msg_in.torque_limit_nm.FR, msg_in.torque_limit_nm.RL, msg_in.torque_limit_nm.RR);
 
-    veh_vec<float> speed_set;
-    speed_set.construct(msg_in.desired_rpms.FL, msg_in.desired_rpms.FR, msg_in.desired_rpms.RL, msg_in.desired_rpms.RR);
-    // Serial.println(msg_in.desired_rpms.FL);
+    veh_vec<float> speed_set(msg_in.desired_rpms.FL, msg_in.desired_rpms.FR, msg_in.desired_rpms.RL, msg_in.desired_rpms.RR);
 
     _latest_data.torque_limits_nm = nm_lim;
     _latest_data.speed_setpoints_rpm = speed_set;
diff --git a/lib/shared_data/include/Utility.h b/lib/shared_data/include/Utility.h
index 66d0f2cb5..d528a73f6 100644
--- a/lib/shared_data/include/Utility.h
+++ b/lib/shared_data/include/Utility.h
@@ -3,11 +3,11 @@
 #include "PhysicalParameters.h"
 #include <array>
 // Defines
-const int FL =          0;
-const int FR =          1;
-const int RL =          2;
-const int RR =          3;
-const int NUM_MOTORS =  4;
+const int FL = 0;
+const int FR = 1;
+const int RL = 2;
+const int RR = 3;
+const int NUM_MOTORS = 4;
 
 const int DEBOUNCE_MILLIS = 10; // milliseconds before registering another button press
 
@@ -15,28 +15,30 @@ const int DEBOUNCE_MILLIS = 10; // milliseconds before registering another butto
 template <typename T>
 struct veh_vec
 {
+public:
     T FL;
     T FR;
     T RL;
     T RR;
 
-    void construct(T _FL, T _FR, T _RL, T _RR)
+public:
+    veh_vec() = default;
+    veh_vec(T _FL, T _FR, T _RL, T _RR)
     {
         FL = _FL;
         FR = _FR;
         RL = _RL;
         RR = _RR;
     }
-    
-    /// @brief copy values to array in FL, FR, RL, RR order 
-    void copy_to_arr(T(&arr_out)[4])
+
+    /// @brief copy values to array in FL, FR, RL, RR order
+    void copy_to_arr(T (&arr_out)[4])
     {
-        arr_out[0]=FL;
-        arr_out[1]=FR;
-        arr_out[2]=RL;
-        arr_out[3]=RR;
+        arr_out[0] = FL;
+        arr_out[1] = FR;
+        arr_out[2] = RL;
+        arr_out[3] = RR;
     }
-
 };
 
 template <typename T>
diff --git a/src/main.cpp b/src/main.cpp
index 2f95dd72d..97dff3083 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -24,7 +24,6 @@
 #include "SABInterface.h"
 #include "VectornavInterface.h"
 #include "LoadCellInterface.h"
-#include "DrivebrainInterface.h"
 #include "TorqueControllers.h"
 
 /* Systems */