changements sur les moteurs

Core/Inc/motors.h

@@ -10,12 +10,18 @@ private:
     uint16_t targetSpeed;
     bool isAccelerating;
     bool isReversing;
+    bool isTurningRight;
+    bool isTurningLeft;
 
 public:
     Motor(TIM_TypeDef *timer);
     void accelerer(int speed);
     void reculer(int speed);
     void stop();
+    void stopTurning();
+    bool isStopped();
+    void tournerDroite(int speed);
+    void tournerGauche(int speed);
     void update();
 };
 

Core/Src/motors.cpp

@@ -2,32 +2,53 @@
 
 Motor::Motor(TIM_TypeDef *timer) :
 		tim(timer), currentSpeed(0), targetSpeed(0), isAccelerating(false), isReversing(
-				false) {
+				false), isTurningRight(false), isTurningLeft(false) {
 }
 
 void Motor::accelerer(int speed) {
 	targetSpeed = (speed <= 626) ? speed : 626;
 	isAccelerating = true;
 	isReversing = false;
+	this->stopTurning();
 }
 
 void Motor::reculer(int speed) {
 	targetSpeed = (speed <= 626) ? speed : 626;
 	isReversing = true;
 	isAccelerating = false;
+	this->stopTurning();
 }
 
 void Motor::stop() {
 	targetSpeed = 0;
+	this->stopTurning();
 }
 
+bool Motor::isStopped() {
+	return currentSpeed == 0;
+}
+void Motor::tournerDroite(int speed) {
+	targetSpeed = (speed <= 626) ? speed : 626;
+	isTurningRight = true;
+	isTurningLeft = false;
+	isAccelerating = true;
+}
+
+void Motor::tournerGauche(int speed) {
+	targetSpeed = (speed <= 626) ? speed : 626;
+	isTurningRight = false;
+	isTurningLeft = true;
+	isAccelerating = true;
+}
+void Motor::stopTurning() {
+	isTurningLeft = false;
+	isTurningRight = false;
+}
 
 void Motor::update() {
 	// Gestion de l'accélération/décélération
-	if (isAccelerating && currentSpeed < targetSpeed) {
+	if ((isAccelerating || isReversing) && currentSpeed < targetSpeed) {
 		currentSpeed++;
-	} else if (isReversing && currentSpeed > -targetSpeed) {
-		currentSpeed--;
 	} else if (currentSpeed > targetSpeed) {
 		if(currentSpeed - 25 >= 0) {
 			//Ralentir rapidement
@@ -38,15 +59,28 @@ void Motor::update() {
 		}
 	}
 
-	// Mise à jour des registres du timer
-	if (isAccelerating) {
-		//2 et 3 avance
-	    tim->CCR2 = currentSpeed;
-	    tim->CCR3 = currentSpeed;
-	} else if (isReversing) {
-		// 1 et 4 recule
-		tim->CCR1 = currentSpeed;
-		tim->CCR4 = currentSpeed;
+	// Mise à jour des registres du timer pour contrôler les moteurs
+	if (isTurningRight) {
+		// Tourne à droite en avançant
+		tim->CCR2 = currentSpeed;
+		tim->CCR3 = currentSpeed / 2;
+	} else if (isTurningLeft) {
+		// Tourne à gauche en avançant
+		tim->CCR2 = currentSpeed / 2;
+		tim->CCR3 = currentSpeed;
+	} else {
+		// Mouvements standards
+		if (isAccelerating) {
+			tim->CCR2 = currentSpeed;
+			tim->CCR3 = currentSpeed;
+		} else if (isReversing) {
+			tim->CCR1 = currentSpeed;
+			tim->CCR4 = currentSpeed;
+		}
+	}
+	//Moteurs arrêtés
+	if(targetSpeed == 0 && currentSpeed == 0) {
+		isAccelerating = 0;
+		isReversing = 0;
 	}
-
 }