From 46db4c4582828a070f4c8d9ea4f2c5fe4f3fb219 Mon Sep 17 00:00:00 2001
From: dd060606 <dd06.developpement@gmail.com>
Date: Thu, 27 Mar 2025 19:47:13 +0100
Subject: [PATCH] =?UTF-8?q?correctif=20odom=C3=A9trie=20+=20ajout=20X=20et?=
 =?UTF-8?q?=20Y?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .cproject                    |   4 +-
 Core/Src/.idea/Src.iml       |   8 +
 Core/Src/.idea/editor.xml    | 580 +++++++++++++++++++++++++++++++++++
 Core/Src/.idea/modules.xml   |   8 +
 Core/Src/.idea/workspace.xml |  61 ++++
 Core/Src/main.c              |   2 +
 Core/Src/modelec.cpp         | 170 +++++-----
 7 files changed, 737 insertions(+), 96 deletions(-)
 create mode 100644 Core/Src/.idea/Src.iml
 create mode 100644 Core/Src/.idea/editor.xml
 create mode 100644 Core/Src/.idea/modules.xml
 create mode 100644 Core/Src/.idea/workspace.xml

diff --git a/.cproject b/.cproject
index bd744da..0cf684c 100644
--- a/.cproject
+++ b/.cproject
@@ -23,8 +23,8 @@
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_board.165556753" name="Board" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_board" useByScannerDiscovery="false" value="NUCLEO-L073RZ" valueType="string"/>
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults.714653137" name="Defaults" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults" useByScannerDiscovery="false" value="com.st.stm32cube.ide.common.services.build.inputs.revA.1.0.6 || Debug || true || Executable || com.st.stm32cube.ide.mcu.gnu.managedbuild.option.toolchain.value.workspace || NUCLEO-L073RZ || 0 || 0 || arm-none-eabi- || ${gnu_tools_for_stm32_compiler_path} || ../Core/Inc | ../Drivers/STM32L0xx_HAL_Driver/Inc | ../Drivers/STM32L0xx_HAL_Driver/Inc/Legacy | ../Drivers/CMSIS/Device/ST/STM32L0xx/Include | ../Drivers/CMSIS/Include ||  ||  || USE_HAL_DRIVER | STM32L073xx ||  || Drivers | Core/Startup | Core ||  ||  || ${workspace_loc:/${ProjName}/STM32L073RZTX_FLASH.ld} || true || NonSecure ||  || secure_nsclib.o ||  || None ||  ||  || " valueType="string"/>
 							<option id="com.st.stm32cube.ide.mcu.debug.option.cpuclock.1429762751" name="Cpu clock frequence" superClass="com.st.stm32cube.ide.mcu.debug.option.cpuclock" useByScannerDiscovery="false" value="16" valueType="string"/>
-							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.nanoprintffloat.482275719" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.nanoprintffloat" value="true" valueType="boolean"/>
-							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.nanoscanffloat.1904988799" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.nanoscanffloat" value="true" valueType="boolean"/>
+							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.nanoprintffloat.482275719" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.nanoprintffloat" useByScannerDiscovery="false" value="true" valueType="boolean"/>
+							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.nanoscanffloat.1904988799" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.nanoscanffloat" useByScannerDiscovery="false" value="true" valueType="boolean"/>
 							<targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.ELF" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.targetplatform.330982953" isAbstract="false" osList="all" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.targetplatform"/>
 							<builder buildPath="${workspace_loc:/ControleMoteur2}/Debug" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder.959152657" keepEnvironmentInBuildfile="false" managedBuildOn="true" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder"/>
 							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.458781094" name="MCU GCC Assembler" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler">
diff --git a/Core/Src/.idea/Src.iml b/Core/Src/.idea/Src.iml
new file mode 100644
index 0000000..bc2cd87
--- /dev/null
+++ b/Core/Src/.idea/Src.iml
@@ -0,0 +1,8 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<module type="CPP_MODULE" version="4">
+  <component name="NewModuleRootManager">
+    <content url="file://$MODULE_DIR$" />
+    <orderEntry type="inheritedJdk" />
+    <orderEntry type="sourceFolder" forTests="false" />
+  </component>
+</module>
\ No newline at end of file
diff --git a/Core/Src/.idea/editor.xml b/Core/Src/.idea/editor.xml
new file mode 100644
index 0000000..95d51a7
--- /dev/null
+++ b/Core/Src/.idea/editor.xml
@@ -0,0 +1,580 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="BackendCodeEditorSettings">
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppSmartPointerVsMakeFunction/@EntryIndexedValue" value="SUGGESTION" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppSmartPointerVsMakeFunction/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppCStyleCast/@EntryIndexedValue" value="SUGGESTION" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppCStyleCast/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppFunctionalStyleCast/@EntryIndexedValue" value="SUGGESTION" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppFunctionalStyleCast/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppReinterpretCastFromVoidPtr/@EntryIndexedValue" value="SUGGESTION" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppReinterpretCastFromVoidPtr/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppNonExplicitConvertingConstructor/@EntryIndexedValue" value="HINT" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppNonExplicitConvertingConstructor/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppNonExplicitConversionOperator/@EntryIndexedValue" value="HINT" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppNonExplicitConversionOperator/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDiscardedPostfixOperatorResult/@EntryIndexedValue" value="SUGGESTION" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDiscardedPostfixOperatorResult/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppConstValueFunctionReturnType/@EntryIndexedValue" value="SUGGESTION" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppConstValueFunctionReturnType/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMemberFunctionMayBeConst/@EntryIndexedValue" value="SUGGESTION" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMemberFunctionMayBeConst/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMemberFunctionMayBeStatic/@EntryIndexedValue" value="SUGGESTION" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMemberFunctionMayBeStatic/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppLocalVariableMayBeConst/@EntryIndexedValue" value="HINT" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppLocalVariableMayBeConst/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppParameterMayBeConst/@EntryIndexedValue" value="HINT" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppParameterMayBeConst/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppVariableCanBeMadeConstexpr/@EntryIndexedValue" value="SUGGESTION" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppVariableCanBeMadeConstexpr/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppParameterMayBeConstPtrOrRef/@EntryIndexedValue" value="SUGGESTION" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppParameterMayBeConstPtrOrRef/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppPassValueParameterByConstReference/@EntryIndexedValue" value="SUGGESTION" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppPassValueParameterByConstReference/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppThrowExpressionCanBeReplacedWithRethrow/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppThrowExpressionCanBeReplacedWithRethrow/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppZeroConstantCanBeReplacedWithNullptr/@EntryIndexedValue" value="SUGGESTION" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppZeroConstantCanBeReplacedWithNullptr/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppCompileTimeConstantCanBeReplacedWithBooleanConstant/@EntryIndexedValue" value="SUGGESTION" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppCompileTimeConstantCanBeReplacedWithBooleanConstant/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppIfCanBeReplacedByConstexprIf/@EntryIndexedValue" value="SUGGESTION" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppIfCanBeReplacedByConstexprIf/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=IfStdIsConstantEvaluatedCanBeReplaced/@EntryIndexedValue" value="SUGGESTION" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=IfStdIsConstantEvaluatedCanBeReplaced/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=StdIsConstantEvaluatedWillAlwaysEvaluateToConstant/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=StdIsConstantEvaluatedWillAlwaysEvaluateToConstant/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=ConstevalIfIsAlwaysConstant/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=ConstevalIfIsAlwaysConstant/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppClassCanBeFinal/@EntryIndexedValue" value="HINT" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppClassCanBeFinal/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUseStructuredBinding/@EntryIndexedValue" value="HINT" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUseStructuredBinding/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUseTypeTraitAlias/@EntryIndexedValue" value="SUGGESTION" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUseTypeTraitAlias/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUseAlgorithmWithCount/@EntryIndexedValue" value="SUGGESTION" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUseAlgorithmWithCount/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUseRangeAlgorithm/@EntryIndexedValue" value="SUGGESTION" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUseRangeAlgorithm/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUseElementsView/@EntryIndexedValue" value="SUGGESTION" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUseElementsView/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUseStdSize/@EntryIndexedValue" value="SUGGESTION" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUseStdSize/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppForLoopCanBeReplacedWithWhile/@EntryIndexedValue" value="SUGGESTION" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppForLoopCanBeReplacedWithWhile/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppJoinDeclarationAndAssignment/@EntryIndexedValue" value="SUGGESTION" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppJoinDeclarationAndAssignment/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppReplaceTieWithStructuredBinding/@EntryIndexedValue" value="SUGGESTION" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppReplaceTieWithStructuredBinding/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppReplaceMemsetWithZeroInitialization/@EntryIndexedValue" value="SUGGESTION" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppReplaceMemsetWithZeroInitialization/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUseAssociativeContains/@EntryIndexedValue" value="SUGGESTION" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUseAssociativeContains/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUseEraseAlgorithm/@EntryIndexedValue" value="SUGGESTION" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUseEraseAlgorithm/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUseFamiliarTemplateSyntaxForGenericLambdas/@EntryIndexedValue" value="SUGGESTION" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUseFamiliarTemplateSyntaxForGenericLambdas/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppTooWideScope/@EntryIndexedValue" value="SUGGESTION" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppTooWideScope/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppTooWideScopeInitStatement/@EntryIndexedValue" value="HINT" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppTooWideScopeInitStatement/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantNamespaceDefinition/@EntryIndexedValue" value="SUGGESTION" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantNamespaceDefinition/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppNonInlineFunctionDefinitionInHeaderFile/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppNonInlineFunctionDefinitionInHeaderFile/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppNonInlineVariableDefinitionInHeaderFile/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppNonInlineVariableDefinitionInHeaderFile/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppFunctionIsNotImplemented/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppFunctionIsNotImplemented/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppPrivateSpecialMemberFunctionIsNotImplemented/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppPrivateSpecialMemberFunctionIsNotImplemented/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppHiddenFunction/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppHiddenFunction/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppHidingFunction/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppHidingFunction/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppPolymorphicClassWithNonVirtualPublicDestructor/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppPolymorphicClassWithNonVirtualPublicDestructor/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppAbstractClassWithoutSpecifier/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppAbstractClassWithoutSpecifier/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppIncompleteSwitchStatement/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppIncompleteSwitchStatement/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDefaultCaseNotHandledInSwitchStatement/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDefaultCaseNotHandledInSwitchStatement/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppPossiblyErroneousEmptyStatements/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppPossiblyErroneousEmptyStatements/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppExpressionWithoutSideEffects/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppExpressionWithoutSideEffects/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppNoDiscardExpression/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppNoDiscardExpression/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppFunctionResultShouldBeUsed/@EntryIndexedValue" value="HINT" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppFunctionResultShouldBeUsed/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMissingKeywordThrow/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMissingKeywordThrow/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDependentTypeWithoutTypenameKeyword/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDependentTypeWithoutTypenameKeyword/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDependentTemplateWithoutTemplateKeyword/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDependentTemplateWithoutTemplateKeyword/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppImplicitDefaultConstructorNotAvailable/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppImplicitDefaultConstructorNotAvailable/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppClassNeedsConstructorBecauseOfUninitializedMember/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppClassNeedsConstructorBecauseOfUninitializedMember/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUninitializedNonStaticDataMember/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUninitializedNonStaticDataMember/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRangeBasedForIncompatibleReference/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRangeBasedForIncompatibleReference/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppZeroValuedExpressionUsedAsNullPointer/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppZeroValuedExpressionUsedAsNullPointer/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppPossiblyUnintendedObjectSlicing/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppPossiblyUnintendedObjectSlicing/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppPossiblyUninitializedMember/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppPossiblyUninitializedMember/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDeclaratorDisambiguatedAsFunction/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDeclaratorDisambiguatedAsFunction/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppVirtualFunctionInFinalClass/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppVirtualFunctionInFinalClass/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMustBePublicVirtualToImplementInterface/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMustBePublicVirtualToImplementInterface/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDeclarationSpecifierWithoutDeclarators/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDeclarationSpecifierWithoutDeclarators/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEmptyDeclaration/@EntryIndexedValue" value="WARNING" type="string" />
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+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INDENT_CLASS_MEMBERS_FROM_ACCESS_SPECIFIERS/@EntryValue" value="true" type="bool" />
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+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_EXTENDS_COLON/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_FOR_COLON/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_FOR_COLON/@EntryValue" value="false" type="bool" />
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+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_REF_IN_DATA_MEMBERS/@EntryValue" value="false" type="bool" />
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+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_BEFORE_DECLARATION_LPAR/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_AFTER_DECLARATION_LPAR/@EntryValue" value="false" type="bool" />
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+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_PARAMETERS_STYLE/@EntryValue" value="WRAP_IF_LONG" type="string" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/BREAK_TEMPLATE_DECLARATION/@EntryValue" value="LINE_BREAK" type="string" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/NAMESPACE_DECLARATION_BRACES/@EntryValue" value="END_OF_LINE" type="string" />
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+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INVOCABLE_DECLARATION_BRACES/@EntryValue" value="END_OF_LINE" type="string" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ANONYMOUS_METHOD_DECLARATION_BRACES/@EntryValue" value="END_OF_LINE" type="string" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INITIALIZER_BRACES/@EntryValue" value="END_OF_LINE_NO_SPACE" type="string" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INDENT_STYLE/@EntryValue" value="Space" type="string" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INDENT_SIZE/@EntryValue" value="4" type="int" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/CONTINUOUS_LINE_INDENT/@EntryValue" value="Double" type="string" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/TAB_WIDTH/@EntryValue" value="4" type="int" />
+  </component>
+</project>
\ No newline at end of file
diff --git a/Core/Src/.idea/modules.xml b/Core/Src/.idea/modules.xml
new file mode 100644
index 0000000..0899ec0
--- /dev/null
+++ b/Core/Src/.idea/modules.xml
@@ -0,0 +1,8 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="ProjectModuleManager">
+    <modules>
+      <module fileurl="file://$PROJECT_DIR$/.idea/Src.iml" filepath="$PROJECT_DIR$/.idea/Src.iml" />
+    </modules>
+  </component>
+</project>
\ No newline at end of file
diff --git a/Core/Src/.idea/workspace.xml b/Core/Src/.idea/workspace.xml
new file mode 100644
index 0000000..2f75b62
--- /dev/null
+++ b/Core/Src/.idea/workspace.xml
@@ -0,0 +1,61 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="BackendCodeEditorMiscSettings">
+    <option name="/Default/RiderDebugger/RiderRestoreDecompile/RestoreDecompileSetting/@EntryValue" value="false" type="bool" />
+    <option name="/Default/Housekeeping/GlobalSettingsUpgraded/IsUpgraded/@EntryValue" value="true" type="bool" />
+    <option name="/Default/Housekeeping/FeatureSuggestion/FeatureSuggestionManager/DisabledSuggesters/=SwitchToGoToActionSuggester/@EntryIndexedValue" value="true" type="bool" />
+    <option name="/Default/Housekeeping/FeatureSuggestion/FeatureSuggestionManager/DisabledSuggesters/=SwitchToGoToActionSuggester/@EntryIndexRemoved" />
+  </component>
+  <component name="ChangeListManager">
+    <list default="true" id="9c5961ff-4964-42f5-a9a6-60421faaeed1" name="Changes" comment="" />
+    <option name="SHOW_DIALOG" value="false" />
+    <option name="HIGHLIGHT_CONFLICTS" value="true" />
+    <option name="HIGHLIGHT_NON_ACTIVE_CHANGELIST" value="false" />
+    <option name="LAST_RESOLUTION" value="IGNORE" />
+  </component>
+  <component name="ClangdSettings">
+    <option name="formatViaClangd" value="false" />
+  </component>
+  <component name="ProjectApplicationVersion">
+    <option name="ide" value="CLion" />
+    <option name="majorVersion" value="2024" />
+    <option name="minorVersion" value="2.4" />
+    <option name="productBranch" value="Classic" />
+  </component>
+  <component name="ProjectColorInfo">{
+  &quot;associatedIndex&quot;: 5
+}</component>
+  <component name="ProjectId" id="2utzKkIMIJRH0qqBiVNTQxKupL1" />
+  <component name="ProjectViewState">
+    <option name="hideEmptyMiddlePackages" value="true" />
+    <option name="showLibraryContents" value="true" />
+  </component>
+  <component name="PropertiesComponent">{
+  &quot;keyToString&quot;: {
+    &quot;RunOnceActivity.RadMigrateCodeStyle&quot;: &quot;true&quot;,
+    &quot;RunOnceActivity.ShowReadmeOnStart&quot;: &quot;true&quot;,
+    &quot;RunOnceActivity.cidr.known.project.marker&quot;: &quot;true&quot;,
+    &quot;RunOnceActivity.readMode.enableVisualFormatting&quot;: &quot;true&quot;,
+    &quot;cf.first.check.clang-format&quot;: &quot;false&quot;,
+    &quot;cidr.known.project.marker&quot;: &quot;true&quot;,
+    &quot;nodejs_package_manager_path&quot;: &quot;npm&quot;,
+    &quot;vue.rearranger.settings.migration&quot;: &quot;true&quot;
+  }
+}</component>
+  <component name="SpellCheckerSettings" RuntimeDictionaries="0" Folders="0" CustomDictionaries="0" DefaultDictionary="application-level" UseSingleDictionary="true" transferred="true" />
+  <component name="TaskManager">
+    <task active="true" id="Default" summary="Default task">
+      <changelist id="9c5961ff-4964-42f5-a9a6-60421faaeed1" name="Changes" comment="" />
+      <created>1743082598937</created>
+      <option name="number" value="Default" />
+      <option name="presentableId" value="Default" />
+      <updated>1743082598937</updated>
+      <workItem from="1743082600720" duration="8000" />
+      <workItem from="1743082851630" duration="4000" />
+    </task>
+    <servers />
+  </component>
+  <component name="TypeScriptGeneratedFilesManager">
+    <option name="version" value="3" />
+  </component>
+</project>
\ No newline at end of file
diff --git a/Core/Src/main.c b/Core/Src/main.c
index c3c7394..87ef9dd 100644
--- a/Core/Src/main.c
+++ b/Core/Src/main.c
@@ -47,6 +47,7 @@ void ModelecOdometryLoop();
 /* Private variables ---------------------------------------------------------*/
 
 /* USER CODE BEGIN PV */
+
 /* USER CODE END PV */
 
 /* Private function prototypes -----------------------------------------------*/
@@ -102,6 +103,7 @@ int main(void)
   HAL_TIM_Encoder_Start(&htim21, TIM_CHANNEL_ALL);
   //HAL_TIM_Encoder_Start_IT(&htim2, TIM_CHANNEL_ALL);
   ModelecOdometrySetup();
+
   /* USER CODE END 2 */
 
   /* Infinite loop */
diff --git a/Core/Src/modelec.cpp b/Core/Src/modelec.cpp
index 7357ed9..5f0e213 100644
--- a/Core/Src/modelec.cpp
+++ b/Core/Src/modelec.cpp
@@ -1,11 +1,3 @@
-/*
- * modelec.cpp
- *
- *  Created on: Mar 14, 2025
- *      Author: allan
- */
-
-
 #include "motors.h"
 #include "main.h"
 #include "stm32l0xx_hal.h"
@@ -13,101 +5,91 @@
 #include <cstring>
 #include <math.h>
 
-
 extern "C" {
 
-	// Paramètres des roues codeuses
-	#define N 600     // Impulsions par tour (PPR) du codeur
-	#define WHEEL_DIAMETER 0.082  // Diamètre de la roue en mètres (ex: 5 cm)
-	#define WHEEL_BASE 0.17      // Entraxe entre les roues en mètres (ex: 15 cm)
-	#define MAX_COUNT 65535      // Max compteur (16 bits)
+extern TIM_HandleTypeDef htim3;
+extern TIM_HandleTypeDef htim2;
+extern TIM_HandleTypeDef htim21;
+extern UART_HandleTypeDef huart2;
 
-	// Position du robot
-	volatile float X = 0.0, Y = 0.0, theta = 0.0, totalDistance = 0.0;
+// Variables globales
+#define IMPULSIONS 600
+#define WHEEL_DIAMETER 0.082
+#define WHEEL_BASE 0.17
+#define MAX_COUNT 65535
 
-	// Dernières valeurs des encodeurs
-	volatile int32_t last_pos_right = 0, last_pos_left = 0;
+// Contrôle des moteurs
+Motor motor(TIM3);
 
-	// Variables globales
-	Motor motor(TIM3);
-
-	extern TIM_HandleTypeDef htim3;
-	extern TIM_HandleTypeDef htim2;
-	extern TIM_HandleTypeDef htim21;
-	extern UART_HandleTypeDef huart2;
-
-	uint32_t lastTick = 0; // Variable pour mémoriser l'heure de la dernière action
-	// Fonction pour vérifier si le délai est passé (permet de ne pas bloquer l'exécution)
-	bool isDelayPassed(uint32_t delay) {
-	    if (HAL_GetTick() - lastTick >= delay) {
-	        lastTick = HAL_GetTick();  // Met à jour lastTick
-	        return true;
-	    }
-	    return false;
-	}
-
-	// Fonction de setup appelee au debut du main.c
-	void ModelecOdometrySetup(){
-		HAL_UART_Transmit(&huart2, (uint8_t *)"SETUP COMPLETE\n", 15, HAL_MAX_DELAY);
-		motor.accelerer(300);
-	}
-
-	// Fonction de mise à jour de l'odométrie
-		void ModelecOdometryUpdate() {
-			// Lire les compteurs des encodeurs
-			int32_t pos_right = __HAL_TIM_GET_COUNTER(&htim21);
-			int32_t pos_left  = __HAL_TIM_GET_COUNTER(&htim2);
-
-			// Calcul des variations d’impulsions
-			int32_t deltaP_right = pos_right - last_pos_right;
-			int32_t deltaP_left  = pos_left - last_pos_left;
-
-			// Gestion du débordement du compteur
-			if (deltaP_right > MAX_COUNT / 2) deltaP_right -= MAX_COUNT;
-			if (deltaP_right < -MAX_COUNT / 2) deltaP_right += MAX_COUNT;
-			if (deltaP_left > MAX_COUNT / 2) deltaP_left -= MAX_COUNT;
-			if (deltaP_left < -MAX_COUNT / 2) deltaP_left += MAX_COUNT;
-
-			// Convertir en distances parcourues (assurer que c'est en millimètres)
-			float deltaS_right = ((deltaP_right / (float)(N * 4)) * M_PI * WHEEL_DIAMETER) * 1000.0;
-			float deltaS_left  = ((deltaP_left / (float)(N * 4)) * M_PI * WHEEL_DIAMETER) * 1000.0;
-
-			// Calcul de la distance totale parcourue
-			float deltaS = (deltaS_right + deltaS_left) / 2.0;
-
-			// Ajouter à la distance totale parcourue
-			totalDistance += fabs(deltaS);  // fabs() ensures we only add positive values
-
-			// Debugging output
-			char msg[128];
-			sprintf(msg, "Total Distance: %.3f mm\r\n", totalDistance);
-			HAL_UART_Transmit(&huart2, (uint8_t *)msg, strlen(msg), HAL_MAX_DELAY);
-
-			// Conserver les valeurs actuelles pour la prochaine itération
-			last_pos_right = pos_right;
-			last_pos_left = pos_left;
-
-		}
-
-	// Fonction de loop appelee en boucle dans le main.c
-	void ModelecOdometryLoop(){
-		GPIOC->ODR ^= (1<<10);
-
-		//On actualise toute les 10ms et on effectue tous les controles périodiques
-		if(isDelayPassed(10)) {
-			ModelecOdometryUpdate();
-			//On met à jour le statut des moteurs
-			motor.update();
-			//15 cm
-			if(totalDistance >= 150) {
-				motor.stop();
-			}
-		}
-	}
+// Données odométriques
+volatile int32_t lastPosRight = 0, lastPosLeft = 0;
+volatile float totalDistance = 0.0f;
+volatile float posX = 0.0f, posY = 0.0f, theta = 0.0f;
 
+uint32_t lastTick = 0;
 
+bool isDelayPassed(uint32_t delay) {
+    if (HAL_GetTick() - lastTick >= delay) {
+        lastTick = HAL_GetTick();
+        return true;
+    }
+    return false;
 }
 
+void ModelecOdometrySetup() {
+    HAL_UART_Transmit(&huart2, (uint8_t*) "SETUP COMPLETE\n", 15, HAL_MAX_DELAY);
+    motor.accelerer(300);
+}
 
+void ModelecOdometryUpdate() {
+    int32_t posRight = __HAL_TIM_GET_COUNTER(&htim2);
+    int32_t posLeft  = __HAL_TIM_GET_COUNTER(&htim21);
 
+    int32_t deltaP_right = posRight - lastPosRight;
+    int32_t deltaP_left  = posLeft - lastPosLeft;
 
+    if (deltaP_right > MAX_COUNT / 2) deltaP_right -= MAX_COUNT;
+    if (deltaP_right < -MAX_COUNT / 2) deltaP_right += MAX_COUNT;
+    if (deltaP_left > MAX_COUNT / 2) deltaP_left -= MAX_COUNT;
+    if (deltaP_left < -MAX_COUNT / 2) deltaP_left += MAX_COUNT;
+
+    float deltaS_right = ((deltaP_right / (float)(IMPULSIONS * 4)) * M_PI * WHEEL_DIAMETER) * 1000.0f;
+    float deltaS_left  = ((deltaP_left / (float)(IMPULSIONS * 4)) * M_PI * WHEEL_DIAMETER) * 1000.0f;
+
+    float deltaS = (deltaS_right + deltaS_left) / 2.0f;
+    //Calcul de l'angle theta
+    float deltaTheta = (deltaS_right - deltaS_left) / WHEEL_BASE;
+
+    //On met à jour la distance parcourue totale
+    totalDistance += fabs(deltaS);
+
+    theta += deltaTheta;
+
+    float deltaX = deltaS * cos(theta);
+    float deltaY = deltaS * sin(theta);
+
+    //Mise à jour de la position X et Y
+    posX += deltaX;
+    posY += deltaY;
+
+    lastPosRight = posRight;
+    lastPosLeft = posLeft;
+
+    char msg[128];
+    sprintf(msg, "X: %.3f mm, Y: %.3f mm, Theta: %.3f rad, Distance: %.3f mm\r\n", posX, posY, theta, totalDistance);
+    HAL_UART_Transmit(&huart2, (uint8_t *)msg, strlen(msg), HAL_MAX_DELAY);
+}
+
+void ModelecOdometryLoop() {
+    GPIOC->ODR ^= (1 << 10);
+
+    if (isDelayPassed(10)) {
+        ModelecOdometryUpdate();
+        motor.update();
+        if (totalDistance >= 150) {
+            motor.stop();
+        }
+    }
+}
+
+}