function to update motors status each 10ms + add random obstacle detection for testing

.settings/language.settings.xml

@@ -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="-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">
+			<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">
 				<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="-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">
+			<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">
 				<language-scope id="org.eclipse.cdt.core.gcc"/>
 				<language-scope id="org.eclipse.cdt.core.g++"/>
 			</provider>

Core/Inc/motors.h

@@ -4,17 +4,21 @@
 #include "stm32l0xx_hal.h"
 
 class Motor {
+private:
+    TIM_TypeDef *tim;
+    uint16_t currentSpeed;
+    uint16_t targetSpeed;
+    bool isAccelerating;
+    bool isReversing;
+
 public:
     Motor(TIM_TypeDef *timer);
-
     void accelerer(int speed);
     void reculer(int speed);
     void ralentir();
     void ralentirEnvers();
     void stop();
-
-private:
-    TIM_TypeDef *tim;
+    void update();
 };
 
 

Core/Src/functions.cpp

@@ -1,6 +1,8 @@
 #ifndef SRC_FUNCTIONS_C_
 #define SRC_FUNCTIONS_C_
 
+#include <cstdlib>  // Pour rand()
+#include <ctime>    // Pour time()
 #include "functions.h"
 #include "motors.h"
 
@@ -8,7 +10,7 @@
 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
+// 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
@@ -19,22 +21,40 @@ bool isDelayPassed(uint32_t delay) {
 
 
 void Cppmain(){
+
 	GPIOC->ODR ^= (1<<10);
 
+	//Simulation de détection d'obstacle
+    static bool obstacleDetecte = false;
+    static uint32_t tempsDebutObstacle = 0;
+
 	Motor motor(TIM3);
+
 	motor.accelerer(626);
-	//On utilise pour les tests un blocage
-	while(!isDelayPassed(2000)) {
 
+	//On actualise toute les 10ms
+	if(isDelayPassed(10)) {
+	    // Simulation aléatoire de détection d'obstacle
+	    if (!obstacleDetecte && (rand() % 100 < 5)) { // 5% de chance de détecter un obstacle
+	        obstacleDetecte = true;
+	        tempsDebutObstacle = HAL_GetTick(); // Récupération du temps actuel
+	        //On arrête les moteurs
+	        motor.stop();
+	    }
+	    // Vérifier si la détection dure depuis 3 secondes
+	    if (obstacleDetecte) {
+	        if (HAL_GetTick() - tempsDebutObstacle >= 3000) {
+	        	//Au bout de 3 secondes, on imagine que l'obstacle est parti pour les tests
+	        	//On redémarre les moteurs
+	            obstacleDetecte = false;
+	            motor.accelerer(626);
+	        }
+	    }
+		//On met à jour le statut des moteurs
+		motor.update();
 	}
-	motor.ralentir();
-	while(!isDelayPassed(500)) {
 
-	}
-	//testChannels();
 
-	//GPIOC->ODR ^= (1<<10);
-	//HAL_Delay(1000);
 
 }
 

Core/Src/main.cpp

@@ -19,6 +19,8 @@
 /* Includes ------------------------------------------------------------------*/
 #include "main.h"
 #include "functions.h"
+#include <cstdlib>  // Pour rand() et srand()
+#include <ctime>    // Pour time()
 
 /* Private includes ----------------------------------------------------------*/
 /* USER CODE BEGIN Includes */
@@ -98,6 +100,9 @@ int main(void)
     HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_2);
     HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_4);
     HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_3);
+
+    srand(HAL_GetTick());
+
   /* USER CODE END 2 */
 
   /* Infinite loop */

Core/Src/motors.cpp

@@ -1,54 +1,66 @@
 #include <motors.h>
 
 Motor::Motor(TIM_TypeDef *timer) :
-		tim(timer) {
+		tim(timer), currentSpeed(0), targetSpeed(0), isAccelerating(false), isReversing(
+				false) {
 }
 
 void Motor::accelerer(int speed) {
-	tim->CCR1 = 0;
-	tim->CCR2 = 0;
-	uint16_t limit = (speed <= 626) ? speed : 626;
-	for (uint16_t i = 0; i < limit; i++) {
-		tim->CCR4 = i;
-		tim->CCR3 = i;
-		HAL_Delay(5);
-	}
+	targetSpeed = (speed <= 626) ? speed : 626;
+	isAccelerating = true;
+	isReversing = false;
 }
 
 void Motor::reculer(int speed) {
-	tim->CCR3 = 0;
-	tim->CCR4 = 0;
-	uint16_t limit = (speed <= 626) ? speed : 626;
-	for (uint16_t i = 0; i < limit; i++) {
-		tim->CCR1 = i;
-		tim->CCR2 = i;
-		HAL_Delay(5);
-	}
+	targetSpeed = (speed <= 626) ? speed : 626;
+	isReversing = true;
+	isAccelerating = false;
 }
 
 void Motor::ralentir() {
-	tim->CCR1 = 0;
-	tim->CCR2 = 0;
-	for (uint16_t i = 626; i > 0; i--) {
-		tim->CCR4 = i;
-		tim->CCR3 = i;
-		HAL_Delay(1);
-	}
+	targetSpeed = 0;
+	isAccelerating = true;
+	isReversing = false;
 }
 
 void Motor::ralentirEnvers() {
-	tim->CCR3 = 0;
-	tim->CCR4 = 0;
-	for (uint16_t i = 626; i > 0; i--) {
-		tim->CCR1 = i;
-		tim->CCR2 = i;
-		HAL_Delay(1);
-	}
+	targetSpeed = 0;
+	isReversing = true;
+	isAccelerating = false;
 }
 
 void Motor::stop() {
-	TIM3->CCR1 = 0;
-	TIM3->CCR2 = 0;
-	TIM3->CCR4 = 0;
-	TIM3->CCR3 = 0;
+	tim->CCR1 = 0;
+	tim->CCR2 = 0;
+	tim->CCR3 = 0;
+	tim->CCR4 = 0;
+	currentSpeed = 0;
+	targetSpeed = 0;
+	isAccelerating = false;
+	isReversing = 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--;
+	}
+
+	// Mise à jour des registres du timer
+	if (isAccelerating) {
+		tim->CCR4 = currentSpeed;
+		tim->CCR3 = currentSpeed;
+	} else if (isReversing) {
+		tim->CCR1 = currentSpeed;
+		tim->CCR2 = currentSpeed;
+	}
+	// Arrêt si vitesse cible atteinte
+	if (currentSpeed == targetSpeed) {
+		isAccelerating = false;
+		isReversing = false;
+	}
 }