modelec/odo_STM32
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tests

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This commit is contained in:
dd060606
2025-05-13 17:49:49 +02:00
parent cc58aae003
commit 0886376b84
15 changed files with 86 additions and 21071 deletions
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4
Core/Src/modelec.cpp
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@@ -152,7 +152,7 @@ void ModelecOdometryUpdate() {
char msg[128];
sprintf(msg, " Update current position : X: %.3f m, Y: %.3f m, Theta: %.3f rad\r\n", x, y, theta);
//CDC_Transmit_FS((uint8_t*) msg, strlen(msg));
CDC_Transmit_FS((uint8_t*) msg, strlen(msg));
float dt = 0.01f; // 10 ms
// Calcul des vitesses des roues
@@ -193,6 +193,7 @@ void ModelecOdometryLoop(void* pid, void* pidG, void* pidD) {
//On met à jour toutes les 10ms
if (isDelayPassed(10)) {
ModelecOdometryUpdate();
/*
HAL_Delay(1000);
Point currentPoint(x, y,theta, StatePoint::INTERMEDIAIRE);
Point targetPoint(0.20, 0.20,0, StatePoint::FINAL);
@@ -205,6 +206,7 @@ void ModelecOdometryLoop(void* pid, void* pidG, void* pidD) {
determinationCoefPosition(currentPoint,targetPoint, *pidPosition, *pidVitesseG, *pidVitesseD);
HAL_Delay(1000);
motor.update();
*/