Merge pull request #224 from 18301328831/patch-1

Method configure4PWM of esp8266_mcu.cpp bug fix

Author: runger1101001

src/common/base_classes/Sensor.cpp

@@ -18,7 +18,7 @@ void Sensor::update() {
 float Sensor::getVelocity() {
     // calculate sample time
     float Ts = (angle_prev_ts - vel_angle_prev_ts)*1e-6;
-    if (Ts<minDeltaT) return velocity; // don't update velocity if deltaT is too small
+    if (Ts < min_elapsed_time) return velocity; // don't update velocity if Ts is too small
 
     velocity = ( (float)(full_rotations - vel_full_rotations)*_2PI + (angle_prev - vel_angle_prev) ) / Ts;
     vel_angle_prev = angle_prev;

src/common/base_classes/Sensor.h

@@ -105,7 +105,7 @@ class Sensor{
         /**
          * Minimum time between updates to velocity. If time elapsed is lower than this, the velocity is not updated.
          */
-        float minDeltaT = 0.000100; // default is 100 microseconds, or 10kHz
+        float min_elapsed_time = 0.000100; // default is 100 microseconds, or 10kHz
 
     protected:
         /** 

src/drivers/hardware_specific/esp8266_mcu.cpp

@@ -70,7 +70,7 @@ void* _configure4PWM(long pwm_frequency,const int pinA, const int pinB, const in
   _setHighFrequency(pwm_frequency, pinC);
   _setHighFrequency(pwm_frequency, pinD);
   GenericDriverParams* params = new GenericDriverParams {
-    .pins = { pin1A, pin1B, pin2A, pin2B },
+    .pins = { pinA, pinB, pinC, pinD },
     .pwm_frequency = pwm_frequency
   };
   return params;
@@ -112,4 +112,4 @@ void _writeDutyCycle4PWM(float dc_1a,  float dc_1b, float dc_2a, float dc_2b, vo
   analogWrite(((GenericDriverParams*)params)->pins[3], 255.0f*dc_2b);
 }
 
-#endif
+#endif