modelec/MarcelMoteurSTM32
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fix tests

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This commit is contained in:
dd060606
2025-04-22 17:15:14 +02:00
parent ce0d679829
commit 1b7ec08bad
2 changed files with 14 additions and 6 deletions
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4
.settings/language.settings.xml
View File

@@ -5,7 +5,7 @@
<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-1389054010610054269" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="817481420865774445" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
<language-scope id="org.eclipse.cdt.core.gcc"/>
<language-scope id="org.eclipse.cdt.core.g++"/>
</provider>
@@ -16,7 +16,7 @@
<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-1389054010610054269" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="817481420865774445" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
<language-scope id="org.eclipse.cdt.core.gcc"/>
<language-scope id="org.eclipse.cdt.core.g++"/>
</provider>

16
Core/Src/modelec.cpp
View File

@@ -29,13 +29,17 @@ float x, y, theta;
uint32_t lastTick = 0;
bool isDelayPassed(uint32_t delay) {
if (HAL_GetTick() - lastTick >= delay) {
lastTick = HAL_GetTick();
bool isDelayPassedFrom(uint32_t delay, uint32_t *lastTick) {
if (HAL_GetTick() - *lastTick >= delay) {
*lastTick = HAL_GetTick();
return true;
}
return false;
}
bool isDelayPassed(uint32_t delay) {
return isDelayPassedFrom(delay, &lastTick);
}
void ModelecOdometrySetup() {
HAL_UART_Transmit(&huart2, (uint8_t*) "SETUP COMPLETE\n", 15, HAL_MAX_DELAY);
@@ -83,6 +87,8 @@ void ModelecOdometryUpdate() {
HAL_UART_Transmit(&huart2, (uint8_t *)msg, strlen(msg), HAL_MAX_DELAY);
}
void ModelecOdometryLoop() {
GPIOC->ODR ^= (1 << 10);
@@ -90,10 +96,12 @@ void ModelecOdometryLoop() {
if (isDelayPassed(10)) {
ModelecOdometryUpdate();
motor.update();
// à 20 cm on s'arrête
if (x >= 0.20) {
motor.stop();
motor.stop();
}
}
}
}