modelec/MarcelMoteurSTM32
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fix: motor forward

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This commit is contained in:
dd060606
2025-03-06 15:41:40 +01:00
parent bae0ca6538
commit 6219dbd0ea
2 changed files with 10 additions and 7 deletions
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2
.settings/com.st.stm32cube.ide.mcu.sfrview.prefs Normal file
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@@ -0,0 +1,2 @@
eclipse.preferences.version=1
sfrviewstate={"fFavorites"\:{"fLists"\:{}},"fProperties"\:{"fNodeProperties"\:{}}}

15
Core/Src/motors.cpp
View File

@@ -30,10 +30,6 @@ void Motor::ralentirEnvers() {
}
void Motor::stop() {
tim->CCR1 = 0;
tim->CCR2 = 0;
tim->CCR3 = 0;
tim->CCR4 = 0;
currentSpeed = 0;
targetSpeed = 0;
isAccelerating = false;
@@ -52,12 +48,17 @@ void Motor::update() {
// Mise à jour des registres du timer
if (isAccelerating) {
tim->CCR4 = currentSpeed;
tim->CCR3 = currentSpeed;
//2 et 3 avance
tim->CCR2 = currentSpeed;
tim->CCR3 = currentSpeed;
} else if (isReversing) {
// 1 et 4 recule
tim->CCR1 = currentSpeed;
tim->CCR2 = currentSpeed;
tim->CCR4 = currentSpeed;
}
// Arrêt si vitesse cible atteinte
if (currentSpeed == targetSpeed) {
isAccelerating = false;