From 1b7ec08badeeb133d3da098bb4730486897c477c Mon Sep 17 00:00:00 2001
From: dd060606 <dd06.developpement@gmail.com>
Date: Tue, 22 Apr 2025 17:15:14 +0200
Subject: [PATCH] fix tests

---
 .settings/language.settings.xml |  4 ++--
 Core/Src/modelec.cpp            | 16 ++++++++++++----
 2 files changed, 14 insertions(+), 6 deletions(-)

diff --git a/.settings/language.settings.xml b/.settings/language.settings.xml
index a0a4a60..a1e35e1 100644
--- a/.settings/language.settings.xml
+++ b/.settings/language.settings.xml
@@ -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>
diff --git a/Core/Src/modelec.cpp b/Core/Src/modelec.cpp
index 4845dc4..3493a8d 100644
--- a/Core/Src/modelec.cpp
+++ b/Core/Src/modelec.cpp
@@ -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();
         }
     }
+
 }
 
 }