Fixing compilation and motor allocation

WPIRoboticsEngineering · Mar 30, 2021 · cadb9d6 · cadb9d6
1 parent b821c8d
commit cadb9d6
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Showing 4 changed files with 6 additions and 8 deletions.
diff --git a/examples/FullSystemTest/FullSystemTest.ino b/examples/FullSystemTest/FullSystemTest.ino
@@ -23,7 +23,6 @@ void setup()
 {
 	// This will initialize the Serial as 115200 for prints
 	Serial.begin(115200);
-	ESP32PWM::allocateTimer(1); // Used by servos
 	// pin definitions https://wpiroboticsengineering.github.io/RBE1001Lib/RBE1001Lib_8h.html#define-members
 	rangefinder1.attach(SIDE_ULTRASONIC_TRIG, SIDE_ULTRASONIC_ECHO);
 	lifter.attach(SERVO_PIN);

diff --git a/examples/Servo/Servo.ino b/examples/Servo/Servo.ino
@@ -11,8 +11,6 @@ ESP32AnalogRead servoPositionFeedback;
 void setup() 
 {
 	Serial.begin(115200);
-	ESP32PWM::allocateTimer(1); // Used by servos
-
 	// pin definitions https://wpiroboticsengineering.github.io/RBE1001Lib/RBE1001Lib_8h.html#define-members
 	lifter.attach(SERVO_PIN);
 	servoPositionFeedback.attach(SERVO_FEEDBACK_SENSOR);

diff --git a/library.properties b/library.properties
@@ -1,5 +1,5 @@
 name=RBE1001Lib
-version=0.11.4
+version=0.12.0
 author=Kevin Harrington
 maintainer=Kevin Harrington <[email protected]>
 sentence=Support robotics education with simplified support classes. 

diff --git a/src/Motor.h b/src/Motor.h
@@ -97,6 +97,10 @@ class Motor
 	 * @note this should only be called from the PID thread
 	 */
 	void setEffortLocal(float effort);
+	/**
+	 * @param PWMgenerationTimer the timer to be used to generate the 20khz PWM
+	 */
+	static void allocateTimer(int PWMgenerationTimer);
 	/**
 	 * this is a flag to switch between using the PID controller, or allowing the user to set effort 'directly'
 	 *
@@ -195,10 +199,7 @@ class Motor
 	 */
 	static Motor *list[MAX_POSSIBLE_MOTORS];
 
-	/**
-	 * @param PWMgenerationTimer the timer to be used to generate the 20khz PWM
-	 */
-	static void allocateTimer(int PWMgenerationTimer);
+
 
 	/** \brief A PID Motor class using FreeRTOS threads, ESP32Encoder and ESP32PWM
 	 *