From 394917faacf71041d00fb596a4228840f004ff9c Mon Sep 17 00:00:00 2001
From: ackimixs <ackimixs@protonmail.com>
Date: Mon, 15 Dec 2025 18:56:03 +0100
Subject: [PATCH] value for new wheel

---
 Core/Inc/modelec.h   | 4 ++--
 Core/Src/commSTM.cpp | 7 +++++--
 2 files changed, 7 insertions(+), 4 deletions(-)

diff --git a/Core/Inc/modelec.h b/Core/Inc/modelec.h
index abb4f2b..0ddb04c 100644
--- a/Core/Inc/modelec.h
+++ b/Core/Inc/modelec.h
@@ -18,9 +18,9 @@
 #define MAX_WAYPOINTS 16
 #define PWM_MAX 626.0f
 #define ENCODER_RES 2400.0f
-#define WHEEL_DIAMETER 0.081f
+#define WHEEL_DIAMETER 0.09735f
 #define WHEEL_RADIUS (WHEEL_DIAMETER/2.0f)
-#define WHEEL_BASE 0.287f
+#define WHEEL_BASE 0.2872f
 #define WHEEL_BASE_2 (WHEEL_BASE/2.0f)
 #define V_MAX 0.643f // m/s
 
diff --git a/Core/Src/commSTM.cpp b/Core/Src/commSTM.cpp
index 59ccc26..1bc4a09 100644
--- a/Core/Src/commSTM.cpp
+++ b/Core/Src/commSTM.cpp
@@ -50,7 +50,8 @@ void USB_Comm_OnReceive(uint8_t* Buf, uint32_t Len) {
                 usb_rx_index = 0;
             }
         }
-    }}
+    }
+}
 
 // Répondre via USB
 static void USB_Comm_Send(const char* message) {
@@ -288,7 +289,9 @@ void USB_Comm_Process(void) {
         	int val = atoi(strtok(NULL, ";"));
         	Comm_StartOdometry(val != 0);
 
-        	USB_Comm_Send("OK;START\n");
+            char msg[64];
+            snprintf(msg, sizeof(msg), "OK;START;%d\n", val != 0);
+        	USB_Comm_Send(msg);
         }
         else if (strcmp(token, "MOTOR") == 0) {
             float left = atof(strtok(NULL, ";"));