comm en cours de modif (variables globales rajoutées si jamais ça marche plus

Core/Src/CommCallbacks.cpp

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+/*
+ * CommCallbacks.cpp
+ *
+ *  Created on: May 25, 2025
+ *      Author: maxch
+ */
+
+
+
+#include "CommCallbacks.hpp"
+#include "main.h"
+#include "modelec.cpp"
+#include "motors.h"
+#include "pid.h"
+#include "pidPosition.h"
+
+void Comm_GetPosition(float* x, float* y, float* theta) {
+    *x = currentPoint.getX();
+    *y = currentPoint.getY();
+    *theta = currentPoint.getTheta();
+}
+
+void Comm_SetPosition(float x, float y, float theta) {
+    currentPoint.setX(x);
+    currentPoint.setY(y);
+    currentPoint.setTheta(theta);
+}
+
+void Comm_GetSpeed(float* vx, float* vy, float* omega){
+    *vx = vitesseLeft;
+    *vy = vitesseRight;
+    *omega = vitesseAngulaire;
+}
+
+void Comm_GetPID(float* p, float* i, float* d) {
+    PIDController::getInstance().getCoefficients(*p, *i, *d);
+}
+
+void Comm_SetPID(float p, float i, float d) {
+    PIDController::getInstance().setCoefficients(p, i, d);
+}
+
+void Comm_StartOdometry(bool on) {
+    if (on) Odometry::getInstance().start();
+    else Odometry::getInstance().stop();
+}
+
+void Comm_AddWaypoint(int id, int type, float x, float y, float theta) {
+    Waypoint wp(id, type, x, y, theta);
+    WaypointManager::getInstance().addWaypoint(wp);
+}
+