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fix: motors update function

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This commit is contained in:
dd060606
2025-03-11 11:32:54 +01:00
parent 743fcda00e
commit 9df4e1efe3
4 changed files with 49 additions and 102 deletions
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12
Core/Inc/motors.h
View File

@@ -10,20 +10,16 @@ private:
uint16_t targetSpeed;
bool isAccelerating;
bool isReversing;
bool isTurningRightForward = false;
bool isTurningLeftForward = false;
bool isTurningRightBackward = false;
bool isTurningLeftBackward = false;
bool isTurningRight;
bool isTurningLeft;
public:
Motor(TIM_TypeDef *timer);
void accelerer(int speed);
void reculer(int speed);
void stop();
void tournerDroiteAvancer(int speed);
void tournerGaucheAvancer(int speed);
void tournerDroiteReculer(int speed);
void tournerGaucheReculer(int speed);
void tournerDroite(int speed);
void tournerGauche(int speed);
void stopTurning();
void update();

12
Core/Src/functions.cpp
View File

@@ -35,19 +35,13 @@ void Cpploop(Motor *motor) {
motor->accelerer(300);
break;
case 1:
motor->tournerGaucheAvancer(600);
motor->tournerGauche(300);
break;
case 2:
motor->tournerDroiteAvancer(600);
motor->tournerDroite(300);
break;
case 3:
motor->reculer(50);
break;
case 4:
motor->tournerGaucheReculer(100);
break;
case 5:
motor->tournerDroiteReculer(100);
motor->reculer(300);
break;
default:
motor->stop();

123
Core/Src/motors.cpp
View File

@@ -2,19 +2,21 @@
Motor::Motor(TIM_TypeDef *timer) :
tim(timer), currentSpeed(0), targetSpeed(0), isAccelerating(false), isReversing(
false), isTurningLeftBackward(false), isTurningLeftForward(false), isTurningRightBackward(false), isTurningRightForward(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() {
@@ -24,94 +26,49 @@ void Motor::stop() {
this->stopTurning();
}
void Motor::tournerDroiteAvancer(int speed) {
targetSpeed = speed;
isTurningRightForward = true;
isTurningLeftForward = false;
isTurningRightBackward = false;
isTurningLeftBackward = false;
isAccelerating = true;
void Motor::tournerDroite(int speed) {
targetSpeed = (speed <= 626) ? speed : 626;
isTurningRight = true;
isTurningLeft = false;
isAccelerating = true;
}
void Motor::tournerGaucheAvancer(int speed) {
targetSpeed = speed;
isTurningLeftForward = true;
isTurningRightForward = false;
isTurningRightBackward = false;
isTurningLeftBackward = false;
isAccelerating = true;
void Motor::tournerGauche(int speed) {
targetSpeed = (speed <= 626) ? speed : 626;
isTurningRight = false;
isTurningLeft = true;
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;
isTurningLeft = false;
isTurningRight = 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 || isReversing) && currentSpeed < targetSpeed) {
currentSpeed++;
} else if (!isAccelerating && !isReversing && currentSpeed > targetSpeed) {
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;
}
}
// Arrêt si vitesse cible atteinte
if (currentSpeed == targetSpeed) {
isAccelerating = false;
isReversing = false;
}
// Mise à jour des registres du timer pour contrôler les moteurs
if (isTurningRight) {
// 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 (isTurningLeft) {
// 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 {
// Normal forward/backward movement
if (isAccelerating) {
tim->CCR2 = currentSpeed;
tim->CCR3 = currentSpeed;
} else if (isReversing) {
tim->CCR1 = currentSpeed;
tim->CCR4 = currentSpeed;
}
}
}