fix pin issues

main/ugv_comms.cc

@@ -59,8 +59,8 @@ void CommsClass::Init() {
 #else
   e32::Config lora_config;
   lora_config.uart_port   = UART_NUM_2;
-  lora_config.uart_rx_pin = 10;
-  lora_config.uart_rx_pin = 11;
+  lora_config.uart_rx_pin = 13;
+  lora_config.uart_tx_pin = 15;
   ret                     = lora.Init(lora_config);
   if (ret != ESP_OK) {
     const char *error_name = esp_err_to_name(ret);

main/ugv_io_gps.cc

@@ -12,8 +12,8 @@ namespace io {
 
 static constexpr size_t      GPS_BUF_SIZE         = 1024;
 static constexpr uart_port_t GPS_UART             = UART_NUM_1;
-static constexpr int         GPS_UART_TX_PIN      = 17;
-static constexpr int         GPS_UART_RX_PIN      = 23;
+static constexpr int         GPS_UART_TX_PIN      = 25;
+static constexpr int         GPS_UART_RX_PIN      = 26;
 static constexpr int         GPS_UART_BAUD        = 9600;
 static constexpr size_t      GPS_UART_RX_BUF_SIZE = 1024;
 static constexpr size_t      GPS_UART_TX_BUF_SIZE = 0;

main/ugv_io_mpu.cc

@@ -9,8 +9,8 @@
 namespace ugv {
 namespace io {
 
-static constexpr gpio_num_t       MPU_SDA         = GPIO_NUM_2;
-static constexpr gpio_num_t       MPU_SCL         = GPIO_NUM_3;
+static constexpr gpio_num_t       MPU_SDA         = GPIO_NUM_12;
+static constexpr gpio_num_t       MPU_SCL         = GPIO_NUM_14;
 static constexpr mpud::accel_fs_t MPU_ACCEL_FS    = mpud::ACCEL_FS_2G;
 static constexpr mpud::gyro_fs_t  MPU_GYRO_FS     = mpud::GYRO_FS_500DPS;
 static constexpr float            MPU_MAG_TO_FLUX = (4912.f) / (32760.f);

main/ugv_main.cc

@@ -17,7 +17,10 @@ static const char *TAG = "ugv_main";
 U8G2 *oled;
 
 void setup_oled(void) {
-  oled = new U8G2_SSD1306_128X64_NONAME_F_HW_I2C(U8G2_R0, 16, 15, 4);
+  // For Heltec ESP32 LoRa
+  // oled = new U8G2_SSD1306_128X64_NONAME_F_HW_I2C(U8G2_R0, 16, 15, 4);
+  // For wemos Lolin ESP32
+  oled = new U8G2_SSD1306_128X64_NONAME_F_HW_I2C(U8G2_R0, 16, 4, 5);
   oled->initDisplay();
   oled->clearDisplay();
   oled->setPowerSave(false);