Make drivers interchangeable, Switch to sabertooth driver

- make motorctl compatible with different drivers
    - pass set function instead of specific motor object
    - add lambda function in config.cpp
- update config to use one new sabertooth driver instead of two single100a
- main test controlled motor

common/motorctl.cpp

@@ -11,11 +11,12 @@ static const char * TAG = "motor-control";
 //======== constructor ========
 //=============================
 //constructor, simultaniously initialize instance of motor driver 'motor' and current sensor 'cSensor' with provided config (see below lines after ':')
-controlledMotor::controlledMotor(single100a_config_t config_driver,  motorctl_config_t config_control): 
-	motor(config_driver), 
+controlledMotor::controlledMotor(motorSetCommandFunc_t setCommandFunc,  motorctl_config_t config_control): 
 	cSensor(config_control.currentSensor_adc, config_control.currentSensor_ratedCurrent) {
 		//copy parameters for controlling the motor
 		config = config_control;
+		//pointer to update motot dury method
+		motorSetCommand = setCommandFunc;
 		//copy configured default fading durations to actually used variables
 		msFadeAccel = config.msFadeAccel;
 		msFadeDecel = config.msFadeDecel;
@@ -139,7 +140,7 @@ void controlledMotor::handle(){
 	//brake immediately, update state, duty and exit this cycle of handle function
 	if (state == motorstate_t::BRAKE){
 		ESP_LOGD(TAG, "braking - skip fading");
-		motor.set(motorstate_t::BRAKE, dutyTarget);
+		motorSetCommand({motorstate_t::BRAKE, dutyTarget});
 		//dutyNow = 0;
 		return; //no need to run the fade algorithm
 	}
@@ -229,7 +230,7 @@ void controlledMotor::handle(){
 
 
     //--- apply new target to motor ---
-    motor.set(state, fabs(dutyNow));
+    motorSetCommand({state, (float)fabs(dutyNow)});
     //note: BRAKE state is handled earlier
     
 

common/motorctl.hpp

@@ -19,7 +19,7 @@ extern "C"
 //outsourced to common/types.hpp
 #include "types.hpp"
 
-
+typedef void (*motorSetCommandFunc_t)(motorCommand_t cmd);
 
 
 //===================================
@@ -28,7 +28,7 @@ extern "C"
 class controlledMotor {
     public:
         //--- functions ---
-        controlledMotor(single100a_config_t config_driver,  motorctl_config_t config_control); //constructor with structs for configuring motordriver and parameters for control TODO: add configuration for currentsensor
+        controlledMotor(motorSetCommandFunc_t setCommandFunc,  motorctl_config_t config_control); //constructor with structs for configuring motordriver and parameters for control TODO: add configuration for currentsensor
         void handle(); //controls motor duty with fade and current limiting feature (has to be run frequently by another task)
         void setTarget(motorstate_t state_f, float duty_f = 0); //adds target command to queue for handle function
         motorCommand_t getStatus(); //get current status of the motor (returns struct with state and duty)
@@ -44,13 +44,14 @@ class controlledMotor {
         void init(); //creates currentsensor objects, motordriver objects and queue
 
         //--- objects ---
-        //motor driver
-        single100a motor;
         //queue for sending commands to the separate task running the handle() function very fast
         QueueHandle_t commandQueue = NULL;
 		//current sensor
 		currentSensor cSensor;
 
+		//function pointer that sets motor duty (driver)
+		motorSetCommandFunc_t motorSetCommand;
+
         //--- variables ---
         //struct for storing control specific parameters
         motorctl_config_t config;

common/motordrivers.cpp

@@ -80,6 +80,10 @@ void single100a::init(){
 //----------- set -----------
 //---------------------------
 //function to put the h-bridge module in the desired state and duty cycle
+void single100a::set(motorCommand_t cmd){
+	set(cmd.state, cmd.duty);
+}
+
 void single100a::set(motorstate_t state_f, float duty_f){
 
 	//scale provided target duty in percent to available resolution for ledc
@@ -190,7 +194,7 @@ sabertooth2x60a::sabertooth2x60a(sabertooth2x60_config_t config_f){
 void sabertooth2x60a::init(){
 	ESP_LOGW(TAG, "initializing uart...");
 	uart_config_t uart_config = {
-		.baud_rate = 38400,
+		.baud_rate = 9600, //dip switches: 101011
 		.data_bits = UART_DATA_8_BITS,
 		.parity    = UART_PARITY_DISABLE,
 		.stop_bits = UART_STOP_BITS_1,

common/motordrivers.hpp

@@ -51,6 +51,7 @@ class single100a {
 
 		//--- functions ---
 		void set(motorstate_t state, float duty_f = 0); //set mode and duty of the motor (see motorstate_t above)
+		void set(motorCommand_t cmd);
 		//TODO: add functions to get the current state and duty
 
 	private:
@@ -79,18 +80,19 @@ class single100a {
 //===== sabertooth 2x60A motor driver ======
 //==========================================
 
-//struct with all config parameters for single100a motor driver
+//struct with all config parameters for sabertooth2x60a driver
 typedef struct  {
 	gpio_num_t gpio_TX;
 	uart_port_t uart_num; //(UART_NUM_1/2)
 } sabertooth2x60_config_t;
 
 
+//controll via simplified serial
+//=> set dip switches to 'simplified serial 9600 Baud' according to manual 101011
 class sabertooth2x60a {
 	public:
 		//--- constructor ---
 		sabertooth2x60a(sabertooth2x60_config_t config_f); //provide config struct (see above)
-
 		//--- functions ---
 		//set motor speed with float value from -100 to 100
 		void setLeft(float dutyPerSigned);