From 8c65a5f7e37f59cce64865784a0d0e09d007cf71 Mon Sep 17 00:00:00 2001
From: askuric <antun.skuric@outlook.com>
Date: Sat, 15 Oct 2022 11:02:08 +0200
Subject: [PATCH 1/2] minDeltaT to min_elapsed_time

---
 src/common/base_classes/Sensor.cpp | 2 +-
 src/common/base_classes/Sensor.h   | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/common/base_classes/Sensor.cpp b/src/common/base_classes/Sensor.cpp
index f3b19053..f806cddf 100644
--- a/src/common/base_classes/Sensor.cpp
+++ b/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;
diff --git a/src/common/base_classes/Sensor.h b/src/common/base_classes/Sensor.h
index 0f228a39..b8834e8e 100644
--- a/src/common/base_classes/Sensor.h
+++ b/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:
         /** 

From 65322265f66498996f01fbf33dd638083627507e Mon Sep 17 00:00:00 2001
From: Michael Dong <donghaiming@donghaiming.com>
Date: Sat, 22 Oct 2022 22:14:13 +0800
Subject: [PATCH 2/2] Method configure4PWM of esp8266_mcu.cpp bug fix

---
 src/drivers/hardware_specific/esp8266_mcu.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/drivers/hardware_specific/esp8266_mcu.cpp b/src/drivers/hardware_specific/esp8266_mcu.cpp
index 0f8c9397..15b9c82d 100644
--- a/src/drivers/hardware_specific/esp8266_mcu.cpp
+++ b/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
\ No newline at end of file
+#endif