From 6219dbd0eae798ec953d7f9c80cf2955f7fd8f36 Mon Sep 17 00:00:00 2001
From: dd060606 <dd06.developpement@gmail.com>
Date: Thu, 6 Mar 2025 15:41:40 +0100
Subject: [PATCH] fix: motor forward

---
 .settings/com.st.stm32cube.ide.mcu.sfrview.prefs |  2 ++
 Core/Src/motors.cpp                              | 15 ++++++++-------
 2 files changed, 10 insertions(+), 7 deletions(-)
 create mode 100644 .settings/com.st.stm32cube.ide.mcu.sfrview.prefs

diff --git a/.settings/com.st.stm32cube.ide.mcu.sfrview.prefs b/.settings/com.st.stm32cube.ide.mcu.sfrview.prefs
new file mode 100644
index 0000000..98a69fc
--- /dev/null
+++ b/.settings/com.st.stm32cube.ide.mcu.sfrview.prefs
@@ -0,0 +1,2 @@
+eclipse.preferences.version=1
+sfrviewstate={"fFavorites"\:{"fLists"\:{}},"fProperties"\:{"fNodeProperties"\:{}}}
diff --git a/Core/Src/motors.cpp b/Core/Src/motors.cpp
index 74cf83d..84b4973 100644
--- a/Core/Src/motors.cpp
+++ b/Core/Src/motors.cpp
@@ -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;