modelec/odo_STM32
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value for new wheel

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This commit is contained in:
ackimixs
2025-12-15 18:56:03 +01:00
parent c3208ba754
commit 394917faac
2 changed files with 7 additions and 4 deletions
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4
Core/Inc/modelec.h
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@@ -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

7
Core/Src/commSTM.cpp
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@@ -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, ";"));