From bbaff11f2c550f857826c13e41959e78fa6069d8 Mon Sep 17 00:00:00 2001
From: randhid <35934754+randhid@users.noreply.github.com>
Date: Thu, 4 May 2023 10:28:29 -0400
Subject: [PATCH] Revert " Remove cfg from encoded motor structure " (#2323)

---
 components/motor/gpio/motor_encoder.go      | 2 ++
 components/motor/gpio/motor_encoder_test.go | 5 ++++-
 2 files changed, 6 insertions(+), 1 deletion(-)

diff --git a/components/motor/gpio/motor_encoder.go b/components/motor/gpio/motor_encoder.go
index d3e3282c9724..2a552b93253c 100644
--- a/components/motor/gpio/motor_encoder.go
+++ b/components/motor/gpio/motor_encoder.go
@@ -113,6 +113,7 @@ func newEncodedMotor(
 	cancelCtx, cancel := context.WithCancel(context.Background())
 	em := &EncodedMotor{
 		Named:            name.AsNamed(),
+		cfg:              motorConfig,
 		ticksPerRotation: int64(motorConfig.TicksPerRotation),
 		real:             localReal,
 		cancelCtx:        cancelCtx,
@@ -174,6 +175,7 @@ type EncodedMotor struct {
 	resource.AlwaysRebuild
 
 	activeBackgroundWorkers sync.WaitGroup
+	cfg                     Config
 	real                    motor.LocalMotor
 	encoder                 encoder.Encoder
 
diff --git a/components/motor/gpio/motor_encoder_test.go b/components/motor/gpio/motor_encoder_test.go
index 11fbb073f2e0..46668c397e14 100644
--- a/components/motor/gpio/motor_encoder_test.go
+++ b/components/motor/gpio/motor_encoder_test.go
@@ -20,6 +20,8 @@ import (
 	"go.viam.com/rdk/resource"
 )
 
+// setupMotorWithEncoder(encType string) {}
+
 func nowNanosTest() uint64 {
 	return uint64(time.Now().UnixNano())
 }
@@ -91,6 +93,7 @@ func TestMotorEncoder1(t *testing.T) {
 	})
 
 	t.Run("encoded motor testing SetPower interrupt GoFor", func(t *testing.T) {
+		t.Skip()
 		test.That(t, motorDep.goForInternal(context.Background(), 1000, 1000), test.ShouldBeNil)
 		test.That(t, fakeMotor.Direction(), test.ShouldEqual, 1)
 		test.That(t, fakeMotor.PowerPct(), test.ShouldBeGreaterThan, float32(0))
@@ -274,7 +277,7 @@ func TestMotorEncoder1(t *testing.T) {
 }
 
 func TestMotorEncoderIncremental(t *testing.T) {
-	t.Skip()
+	// t.Skip()
 	logger := golog.NewTestLogger(t)
 	undo := SetRPMSleepDebug(1, false)
 	defer undo()