From b6fd16eb2a3694b0651aeb7057bbf1143ceb89c1 Mon Sep 17 00:00:00 2001
From: jonny_jr9 <jonny@wwad.de>
Date: Wed, 13 Sep 2023 15:38:40 +0200
Subject: [PATCH] Patch V2.1-board-motorctl to work with new common code

Changes to outsourced motorctl code made configuration
of currently unused board-motorctl from V2.1 incompatible
-> patch config
---
 board_control/sdkconfig        | 17 +++++++++++++++++
 board_motorctl/main/config.cpp | 16 ++++++++++++++--
 board_motorctl/sdkconfig       | 17 +++++++++++++++++
 3 files changed, 48 insertions(+), 2 deletions(-)

diff --git a/board_control/sdkconfig b/board_control/sdkconfig
index f7c6b17..6e3dc02 100644
--- a/board_control/sdkconfig
+++ b/board_control/sdkconfig
@@ -132,6 +132,23 @@ CONFIG_PARTITION_TABLE_OFFSET=0x8000
 CONFIG_PARTITION_TABLE_MD5=y
 # end of Partition Table
 
+#
+# SSD1306 Configuration
+#
+CONFIG_GPIO_RANGE_MAX=33
+CONFIG_I2C_INTERFACE=y
+# CONFIG_SPI_INTERFACE is not set
+# CONFIG_SSD1306_128x32 is not set
+CONFIG_SSD1306_128x64=y
+CONFIG_OFFSETX=0
+# CONFIG_FLIP is not set
+CONFIG_SCL_GPIO=22
+CONFIG_SDA_GPIO=21
+CONFIG_RESET_GPIO=15
+CONFIG_I2C_PORT_0=y
+# CONFIG_I2C_PORT_1 is not set
+# end of SSD1306 Configuration
+
 #
 # Compiler options
 #
diff --git a/board_motorctl/main/config.cpp b/board_motorctl/main/config.cpp
index 3d57660..543596e 100644
--- a/board_motorctl/main/config.cpp
+++ b/board_motorctl/main/config.cpp
@@ -76,10 +76,22 @@ fan_config_t configCooling = {
 //===== create global objects =====
 //=================================
 //TODO outsource global variables to e.g. global.cpp and only config options here?
+single100a motorDriverLeft(configDriverLeft);
+single100a motorDriverRight(configDriverRight);
 
+//--- controlledMotor ---
+//functions for updating the duty via certain/current driver that can then be passed to controlledMotor
+//-> makes it possible to easily use different motor drivers
+//note: ignoring warning "capture of variable with non-automatic storage duration", since sabertoothDriver object does not get destroyed anywhere - no lifetime issue
+motorSetCommandFunc_t setLeftFunc = [&motorDriverLeft](motorCommand_t cmd) {
+    motorDriverLeft.set(cmd);
+};
+motorSetCommandFunc_t setRightFunc = [&motorDriverRight](motorCommand_t cmd) {
+    motorDriverRight.set(cmd);
+};
 //create controlled motor instances (motorctl.hpp)
-controlledMotor motorLeft(configDriverLeft, configMotorControlLeft);
-controlledMotor motorRight(configDriverRight, configMotorControlRight);
+controlledMotor motorLeft(setLeftFunc, configMotorControlLeft);
+controlledMotor motorRight(setRightFunc, configMotorControlRight);
 
 //create buzzer object on pin 12 with gap between queued events of 100ms 
 buzzer_t buzzer(GPIO_NUM_12, 100);
diff --git a/board_motorctl/sdkconfig b/board_motorctl/sdkconfig
index c54e196..8eb3f07 100644
--- a/board_motorctl/sdkconfig
+++ b/board_motorctl/sdkconfig
@@ -132,6 +132,23 @@ CONFIG_PARTITION_TABLE_OFFSET=0x8000
 CONFIG_PARTITION_TABLE_MD5=y
 # end of Partition Table
 
+#
+# SSD1306 Configuration
+#
+CONFIG_GPIO_RANGE_MAX=33
+CONFIG_I2C_INTERFACE=y
+# CONFIG_SPI_INTERFACE is not set
+# CONFIG_SSD1306_128x32 is not set
+CONFIG_SSD1306_128x64=y
+CONFIG_OFFSETX=0
+# CONFIG_FLIP is not set
+CONFIG_SCL_GPIO=22
+CONFIG_SDA_GPIO=21
+CONFIG_RESET_GPIO=15
+CONFIG_I2C_PORT_0=y
+# CONFIG_I2C_PORT_1 is not set
+# end of SSD1306 Configuration
+
 #
 # Compiler options
 #