From 6e9b3d96d96947c53188be1dec421bd7ff87478e Mon Sep 17 00:00:00 2001
From: jonny_jr9 <jonny@wwad.de>
Date: Mon, 19 Feb 2024 10:46:56 +0100
Subject: [PATCH] Initialize motorDriver in STACK instead of HEAP, pointer

Since moving all objects to heap encoder started to lag
interrupt not recognizing some single events in MENU

fast executen of motordriver setTarget caused the lag,
initialize it in STACK while still using a pointer now
---
 board_single/main/main.cpp | 19 ++++++++++++-------
 common/motorctl.cpp        |  2 +-
 2 files changed, 13 insertions(+), 8 deletions(-)

diff --git a/board_single/main/main.cpp b/board_single/main/main.cpp
index 64e9011..9e50bfe 100644
--- a/board_single/main/main.cpp
+++ b/board_single/main/main.cpp
@@ -31,6 +31,7 @@ extern "C"
 #include "display.hpp"
 #include "encoder.hpp"
 
+#include <new>
 
 //only extends this file (no library):
 //outsourced all configuration related structures
@@ -69,11 +70,11 @@ cControlledRest *backRest;
 //-> makes it possible to easily use different motor drivers
 motorSetCommandFunc_t setLeftFunc = [&sabertoothDriver](motorCommand_t cmd)
 {
-    sabertoothDriver->setLeft(cmd);
+    sabertoothDriver->setLeft(cmd); //<= note: still using pointer to method in here (but stored in STACK)
 };
 motorSetCommandFunc_t setRightFunc = [&sabertoothDriver](motorCommand_t cmd)
 {
-    sabertoothDriver->setRight(cmd);
+    sabertoothDriver->setRight(cmd); //<= note: still using pointer to method in here (but stored in STACK)
 };
 
 //--- lambda function http-joystick ---
@@ -163,9 +164,9 @@ void createObjects()
     // create sabertooth motor driver instance
     // sabertooth2x60a sabertoothDriver(sabertoothConfig);
     // with configuration above
-    sabertoothDriver = new sabertooth2x60a(sabertoothConfig);
+	//sabertoothDriver = new sabertooth2x60a(sabertoothConfig);
 
-    // create controlled motor instances (motorctl.hpp)
+	// create controlled motor instances (motorctl.hpp)
     // with configurations above
     motorLeft = new controlledMotor(setLeftFunc, configMotorControlLeft);
     motorRight = new controlledMotor(setRightFunc, configMotorControlRight);
@@ -197,6 +198,7 @@ void createObjects()
     legRest = new cControlledRest(GPIO_NUM_4, GPIO_NUM_16, "legRest");
     backRest = new cControlledRest(GPIO_NUM_2, GPIO_NUM_15, "backRest");
 }
+    //sabertooth2x60a sabertoothDriver(sabertoothConfig);
 
 
 
@@ -206,7 +208,7 @@ void createObjects()
 //=================================
 extern "C" void app_main(void) {
 
-	ESP_LOGW(TAG, "===== INITIALIZING COMPONENTS =====");
+	ESP_LOGW(TAG, "===== INITIAawdfLIZING COMPONENTS =====");
 	//--- define log levels ---
 	setLoglevels();
 
@@ -236,8 +238,11 @@ extern "C" void app_main(void) {
 	//--- create all objects ---
 	ESP_LOGW(TAG, "===== CREATING SHARED OBJECTS =====");
 
-	//create all class instances used below
-	//see 'createObjects.hpp'
+	//initialize sabertooth object in STACK
+	sabertoothDriver = static_cast<sabertooth2x60a*>(alloca(sizeof(sabertooth2x60a)));
+	new (sabertoothDriver) sabertooth2x60a(sabertoothConfig);
+
+	//create all class instances used below in HEAP
 	createObjects();
 
 
diff --git a/common/motorctl.cpp b/common/motorctl.cpp
index d3c4f1a..2a20e0a 100644
--- a/common/motorctl.cpp
+++ b/common/motorctl.cpp
@@ -19,7 +19,7 @@ void task_motorctl( void * task_motorctl_parameters ){
     while(1){
     	objects->motorRight->handle();
     	objects->motorLeft->handle();
-        vTaskDelay(20 / portTICK_PERIOD_MS);
+        vTaskDelay(10 / portTICK_PERIOD_MS);
     }
 }