modelec/MarcelMoteurSTM32
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feat: add functions to turn right and left

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This commit is contained in:
dd060606
2025-03-10 15:20:44 +01:00
parent 6219dbd0ea
commit 743fcda00e
5 changed files with 145 additions and 60 deletions
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4
.settings/language.settings.xml
View File

@@ -5,7 +5,7 @@
<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="1663823120161288977" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-539313789031368032" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
<language-scope id="org.eclipse.cdt.core.gcc"/>
<language-scope id="org.eclipse.cdt.core.g++"/>
</provider>
@@ -16,7 +16,7 @@
<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="1663823120161288977" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-539313789031368032" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
<language-scope id="org.eclipse.cdt.core.gcc"/>
<language-scope id="org.eclipse.cdt.core.g++"/>
</provider>

12
Core/Inc/motors.h
View File

@@ -10,15 +10,23 @@ private:
uint16_t targetSpeed;
bool isAccelerating;
bool isReversing;
bool isTurningRightForward = false;
bool isTurningLeftForward = false;
bool isTurningRightBackward = false;
bool isTurningLeftBackward = false;
public:
Motor(TIM_TypeDef *timer);
void accelerer(int speed);
void reculer(int speed);
void ralentir();
void ralentirEnvers();
void stop();
void tournerDroiteAvancer(int speed);
void tournerGaucheAvancer(int speed);
void tournerDroiteReculer(int speed);
void tournerGaucheReculer(int speed);
void stopTurning();
void update();
};

58
Core/Src/functions.cpp
View File

@@ -4,35 +4,63 @@
#include "functions.h"
#include "motors.h"
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
//Demo
uint32_t lastTickDemo = 0;
unsigned int demoStep = 0;
// 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;
bool isDelayPassed(uint32_t delay, uint32_t *lastTick) {
if (HAL_GetTick() - *lastTick >= delay) {
*lastTick = HAL_GetTick(); // Met à jour lastTick
return true;
}
return false;
}
void Cpploop(Motor *motor) {
void Cpploop(Motor *motor){
GPIOC->ODR ^= (1<<10);
GPIOC->ODR ^= (1 << 10);
//On actualise toute les 10ms et on effectue tous les controles périodiques
if(isDelayPassed(10)) {
if (isDelayPassed(10, &lastTick)) {
//Demo
if (isDelayPassed(2000, &lastTickDemo)) {
switch (demoStep) {
case 0:
motor->accelerer(300);
break;
case 1:
motor->tournerGaucheAvancer(600);
break;
case 2:
motor->tournerDroiteAvancer(600);
break;
case 3:
motor->reculer(50);
break;
case 4:
motor->tournerGaucheReculer(100);
break;
case 5:
motor->tournerDroiteReculer(100);
break;
default:
motor->stop();
break;
}
demoStep++;
}
//On met à jour le statut des moteurs
motor->update();
}
}
#endif /* SRC_FUNCTIONS_C_ */

3
Core/Src/main.cpp
View File

@@ -102,8 +102,7 @@ int main(void) {
Motor motor(TIM3);
//On fait accélérer les moteurs
motor.accelerer(626);
motor.accelerer(300);
/* USER CODE END 2 */
/* Infinite loop */

128
Core/Src/motors.cpp
View File

@@ -2,7 +2,7 @@
Motor::Motor(TIM_TypeDef *timer) :
tim(timer), currentSpeed(0), targetSpeed(0), isAccelerating(false), isReversing(
false) {
false), isTurningLeftBackward(false), isTurningLeftForward(false), isTurningRightBackward(false), isTurningRightForward(false) {
}
void Motor::accelerer(int speed) {
@@ -17,51 +17,101 @@ void Motor::reculer(int speed) {
isAccelerating = false;
}
void Motor::ralentir() {
targetSpeed = 0;
isAccelerating = true;
isReversing = false;
}
void Motor::ralentirEnvers() {
targetSpeed = 0;
isReversing = true;
isAccelerating = false;
}
void Motor::stop() {
currentSpeed = 0;
targetSpeed = 0;
isAccelerating = false;
isReversing = false;
this->stopTurning();
}
void Motor::tournerDroiteAvancer(int speed) {
targetSpeed = speed;
isTurningRightForward = true;
isTurningLeftForward = false;
isTurningRightBackward = false;
isTurningLeftBackward = false;
isAccelerating = true;
}
void Motor::tournerGaucheAvancer(int speed) {
targetSpeed = speed;
isTurningLeftForward = true;
isTurningRightForward = false;
isTurningRightBackward = false;
isTurningLeftBackward = false;
isAccelerating = true;
}
void Motor::tournerDroiteReculer(int speed) {
targetSpeed = speed;
isTurningRightBackward = true;
isTurningLeftBackward = false;
isTurningRightForward = false;
isTurningLeftForward = false;
isReversing = true;
}
void Motor::tournerGaucheReculer(int speed) {
targetSpeed = speed;
isTurningLeftBackward = true;
isTurningRightBackward = false;
isTurningRightForward = false;
isTurningLeftForward = false;
isReversing = true;
}
void Motor::stopTurning() {
isTurningLeftForward = false;
isTurningLeftBackward = false;
isTurningRightBackward = false;
isTurningRightForward = false;
}
void Motor::update() {
// Gestion de l'accélération/décélération
if (isAccelerating && currentSpeed < targetSpeed) {
currentSpeed++;
} else if (isReversing && currentSpeed > -targetSpeed) {
currentSpeed--;
} else if (!isAccelerating && !isReversing && currentSpeed > targetSpeed) {
currentSpeed--;
}
// Gestion de l'accélération/décélération
if (isAccelerating && currentSpeed < targetSpeed) {
currentSpeed++;
} else if (isReversing && currentSpeed > -targetSpeed) {
currentSpeed--;
} else if (!isAccelerating && !isReversing && currentSpeed > targetSpeed) {
currentSpeed--;
}
// Mise à jour des registres du timer
if (isAccelerating) {
//2 et 3 avance
tim->CCR2 = currentSpeed;
tim->CCR3 = currentSpeed;
// Mise à jour des registres du timer pour contrôler les moteurs
if (isTurningRightForward) {
// Turn right while moving forward: Left motor full speed, Right motor slower
tim->CCR2 = currentSpeed; // Left forward
tim->CCR3 = currentSpeed / 2; // Right forward (slower)
}
else if (isTurningLeftForward) {
// Turn left while moving forward: Right motor full speed, Left motor slower
tim->CCR2 = currentSpeed / 2; // Left forward (slower)
tim->CCR3 = currentSpeed; // Right forward
}
else if (isTurningRightBackward) {
// Turn right while reversing: Left motor full speed, Right motor slower
tim->CCR1 = currentSpeed; // Left backward
tim->CCR4 = currentSpeed / 2; // Right backward (slower)
}
else if (isTurningLeftBackward) {
// Turn left while reversing: Right motor full speed, Left motor slower
tim->CCR1 = currentSpeed / 2; // Left backward (slower)
tim->CCR4 = currentSpeed; // Right backward
}
else {
// Normal forward/backward movement
if (isAccelerating) {
tim->CCR2 = currentSpeed;
tim->CCR3 = currentSpeed;
} else if (isReversing) {
tim->CCR1 = currentSpeed;
tim->CCR4 = currentSpeed;
}
}
} else if (isReversing) {
// 1 et 4 recule
tim->CCR1 = currentSpeed;
tim->CCR4 = currentSpeed;
}
// Arrêt si vitesse cible atteinte
if (currentSpeed == targetSpeed) {
isAccelerating = false;
isReversing = false;
}
// Arrêt si vitesse cible atteinte
if (currentSpeed == targetSpeed) {
isAccelerating = false;
isReversing = false;
}
}