From 6eafbe538f168a75c7994e142e00233b1f530a0a Mon Sep 17 00:00:00 2001
From: Pascal Serrarens <pse@pale.blue>
Date: Wed, 18 Jun 2025 15:27:08 +0200
Subject: [PATCH] Fix intialization issues

---
 Arduino/Things/DRV8833.cpp | 11 +++++++----
 Arduino/Things/DRV8833.h   |  2 ++
 2 files changed, 9 insertions(+), 4 deletions(-)

diff --git a/Arduino/Things/DRV8833.cpp b/Arduino/Things/DRV8833.cpp
index ed04d79..77dbbbc 100644
--- a/Arduino/Things/DRV8833.cpp
+++ b/Arduino/Things/DRV8833.cpp
@@ -8,6 +8,7 @@ namespace Arduino {
 #pragma region DRV8833
 
 DRV8833::DRV8833(Configuration config, Thing* parent) : Thing(parent) {
+  std::cout << "DRV8833\n";
   this->type = Type::Undetermined;
   this->name = "DRV8833";
   this->pinStandby = config.standby;
@@ -26,10 +27,12 @@ DRV8833::DRV8833(Configuration config, Thing* parent) : Thing(parent) {
 
 DRV8833::DifferentialDrive::DifferentialDrive(DRV8833::Configuration config,
                                               Thing* parent)
-    : RoboidControl::DifferentialDrive(this->drv8833.motorA,
-                                       this->drv8833.motorB,
-                                       parent),
-      drv8833(config, this) {}
+    : drv8833(config, this),
+      RoboidControl::DifferentialDrive(nullptr, nullptr, parent) {
+  this->drv8833 = DRV8833(config, this);
+  this->leftWheel = this->drv8833.motorA;
+  this->rightWheel = this->drv8833.motorB;
+}
 
 void DRV8833::DifferentialDrive::Update(bool recurse) {
   RoboidControl::DifferentialDrive::Update(recurse);
diff --git a/Arduino/Things/DRV8833.h b/Arduino/Things/DRV8833.h
index 9762980..a4cbd9f 100644
--- a/Arduino/Things/DRV8833.h
+++ b/Arduino/Things/DRV8833.h
@@ -19,6 +19,8 @@ class DRV8833 : public Thing {
     int BIn1;
     int BIn2;
     int standby = 255;
+
+    constexpr Configuration(int a1, int a2, int b1, int b2, int standby = 255) : AIn1(a1), AIn2(a2), BIn1(b1), BIn2(b2), standby(standby) {}
   };
 
   /// @brief Setup a DRV8833 motor controller