RoboidControl/RoboidControl-cpp
RoboidControl/RoboidControl-cpp
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Fix crash when updating DRV8833 Diff Drive

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This commit is contained in:
Pascal Serrarens 2025-06-18 15:38:46 +02:00
parent 6eafbe538f
commit 634d560ee1
2 changed files with 6 additions and 8 deletions
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12
Arduino/Things/DRV8833.cpp
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@ -8,7 +8,6 @@ namespace Arduino {
#pragma region DRV8833 #pragma region DRV8833
DRV8833::DRV8833(Configuration config, Thing* parent) : Thing(parent) { DRV8833::DRV8833(Configuration config, Thing* parent) : Thing(parent) {
std::cout << "DRV8833\n";
this->type = Type::Undetermined; this->type = Type::Undetermined;
this->name = "DRV8833"; this->name = "DRV8833";
this->pinStandby = config.standby; this->pinStandby = config.standby;
@ -27,16 +26,15 @@ DRV8833::DRV8833(Configuration config, Thing* parent) : Thing(parent) {
DRV8833::DifferentialDrive::DifferentialDrive(DRV8833::Configuration config, DRV8833::DifferentialDrive::DifferentialDrive(DRV8833::Configuration config,
Thing* parent) Thing* parent)
: drv8833(config, this), : RoboidControl::DifferentialDrive(nullptr, nullptr, parent) {
RoboidControl::DifferentialDrive(nullptr, nullptr, parent) { this->drv8833 = new DRV8833(config, this);
this->drv8833 = DRV8833(config, this); this->leftWheel = this->drv8833->motorA;
this->leftWheel = this->drv8833.motorA; this->rightWheel = this->drv8833->motorB;
this->rightWheel = this->drv8833.motorB;
} }
void DRV8833::DifferentialDrive::Update(bool recurse) { void DRV8833::DifferentialDrive::Update(bool recurse) {
RoboidControl::DifferentialDrive::Update(recurse); RoboidControl::DifferentialDrive::Update(recurse);
this->drv8833.Update(false); this->drv8833->Update(false);
} }
#pragma endregion Differential drive #pragma endregion Differential drive

2
Arduino/Things/DRV8833.h
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@ -45,7 +45,7 @@ class DRV8833::DifferentialDrive : public RoboidControl::DifferentialDrive {
virtual void Update(bool recurse = false) override; virtual void Update(bool recurse = false) override;
protected: protected:
DRV8833 drv8833; DRV8833* drv8833 = nullptr;
}; };
#pragma endregion Differential drive #pragma endregion Differential drive