modelec/MarcelMoteurSTM32
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fix merge conflicts

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This commit is contained in:
dd060606
2025-03-26 09:21:00 +01:00
parent 617a1abbd8 9df4e1efe3
commit 662f42256e
5 changed files with 12 additions and 53 deletions
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18
Core/Inc/functions.h
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@@ -1,18 +0,0 @@
/*
* functions.h
*
* Created on: Feb 17, 2025
* Author: CHAUVEAU Maxime
*/
#ifndef FUNCTIONS_H_
#define FUNCTIONS_H_
#include "main.h"
#include "motors.h"
bool isDelayPassed(uint32_t delay);
void handleEncoderProgression(uint16_t totalDistance, uint16_t newDistance, bool direction);
#endif /* FUNCTIONS_H_ */

1
Core/Inc/motors.h
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@@ -23,6 +23,7 @@ public:
void tournerDroite(int speed);
void tournerGauche(int speed);
void update();
};

34
Core/Src/functions.cpp
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@@ -1,34 +0,0 @@
#ifndef SRC_FUNCTIONS_C_
#define SRC_FUNCTIONS_C_
#include "functions.h"
#include "motors.h"
#include <cstdio>
#include <cstring>
extern UART_HandleTypeDef huart2;
uint32_t lastTick = 0; // Variable pour mémoriser l'heure de la dernière action
uint32_t delayTime = 0; // Variable pour définir le délai de la prochaine 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;
}
void handleEncoderProgression(uint16_t totalDistance, uint16_t newDistance, bool direction){
char msg[128];
if(direction == 0){
sprintf(msg, "Encodeur recule de %d mm, distance totale parcourue : %d mm.\r\n", newDistance, totalDistance);
} else if(direction == 1){
sprintf(msg, "Encodeur avance de %d mm, distance totale parcourue : %d mm.\r\n", newDistance, totalDistance);
}
HAL_UART_Transmit(&huart2, (uint8_t *)msg, strlen(msg), HAL_MAX_DELAY);
}
#endif /* SRC_FUNCTIONS_C_ */

11
Core/Src/modelec.cpp
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@@ -7,7 +7,6 @@
#include "motors.h"
#include "functions.h"
#include "main.h"
#include "stm32l0xx_hal.h"
#include <cstdio>
@@ -37,6 +36,16 @@ extern "C" {
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);

1
Core/Src/motors.cpp
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@@ -27,6 +27,7 @@ void Motor::stop() {
bool Motor::isStopped() {
return currentSpeed == 0;
}
void Motor::tournerDroite(int speed) {
targetSpeed = (speed <= 626) ? speed : 626;
isTurningRight = true;