Arduino/Things/DRV8833.cpp

@@ -26,15 +26,14 @@ DRV8833::DRV8833(Configuration config, Thing* parent) : Thing(parent) {
 
 DRV8833::DifferentialDrive::DifferentialDrive(DRV8833::Configuration config,
                                               Thing* parent)
-    : RoboidControl::DifferentialDrive(nullptr, nullptr, parent) {
+    : RoboidControl::DifferentialDrive(this->drv8833.motorA,
-  this->drv8833 = new DRV8833(config, this);
+                                       this->drv8833.motorB,
-  this->leftWheel = this->drv8833->motorA;
+                                       parent),
-  this->rightWheel = this->drv8833->motorB;
+      drv8833(config, this) {}
-}
 
 void DRV8833::DifferentialDrive::Update(bool recurse) {
   RoboidControl::DifferentialDrive::Update(recurse);
-  this->drv8833->Update(false);
+  this->drv8833.Update(false);
 }
 
 #pragma endregion Differential drive

Arduino/Things/DRV8833.h

@@ -19,8 +19,6 @@ 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
@@ -45,7 +43,7 @@ class DRV8833::DifferentialDrive : public RoboidControl::DifferentialDrive {
   virtual void Update(bool recurse = false) override;
 
  protected:
-  DRV8833* drv8833 = nullptr;
+  DRV8833 drv8833;
 };
 
 #pragma endregion Differential drive

Arduino/Things/UltrasonicSensor.cpp

@@ -65,7 +65,7 @@ UltrasonicSensor::TouchSensor::TouchSensor(Configuration config, Thing* parent)
 void UltrasonicSensor::TouchSensor::Update(bool recursive) {
   RoboidControl::TouchSensor::Update(recursive);
   this->ultrasonic.Update(false);
-  this->internalTouch = (this->ultrasonic.distance > 0 &&
+  this->internalTouch |= (this->ultrasonic.distance > 0 &&
                             this->ultrasonic.distance <= this->touchDistance);
 }
 

examples/BB2A/main.cpp

@@ -40,9 +40,9 @@ int main() {
 
     // and sleep for 100ms
 #if defined(ARDUINO)
-    delay(10);
+    delay(100);
 #else
-    sleep_for(milliseconds(10));
+    sleep_for(milliseconds(100));
 #endif
   }