modelec/odo_STM32
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une partie de la comm de done (je crois)

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Maxime
2025-05-26 21:44:16 +02:00
parent bef1e49b09
commit aba82ad97d
3 changed files with 52 additions and 9 deletions
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45
Core/Inc/modelec.h Normal file
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@@ -0,0 +1,45 @@
/*
* modelec.h
*
* Created on: May 26, 2025
* Author: maxch
*/
#ifndef INC_MODELEC_H_
#define INC_MODELEC_H_
#include "point.h"
#include "pidPosition.h"
#include "pidVitesse.h"
#ifdef __cplusplus
extern "C" {
#endif
// Fonctions accessibles
void ModelecOdometrySetup(void **out_pid, void **out_pidG, void **out_pidD);
void ModelecOdometryUpdate();
void ModelecOdometryLoop(void* pid, void* pidG, void* pidD);
void determinationCoefPosition(Point objectifPoint, Point pointActuel, PidPosition& pid, PidVitesse& pidG, PidVitesse& pidD, float vitGauche, float vitDroit);
// Variables globales accessibles
extern float x;
extern float y;
extern float theta;
extern float vitesseLineaire;
extern float vitesseAngulaire;
extern float vitesseLeft;
extern float vitesseRight;
extern Point currentPoint;
#ifdef __cplusplus
}
#endif
#endif /* INC_MODELEC_H_ */

11
Core/Src/CommCallbacks.cpp
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@@ -6,10 +6,10 @@
*/
/*
#include "CommCallbacks.hpp"
#include "main.h"
#include "modelec.cpp"
#include "modelec.h"
#include "motors.h"
#include "pid.h"
#include "pidPosition.h"
@@ -33,9 +33,10 @@ void Comm_GetSpeed(float* vx, float* vy, float* omega){
}
void Comm_GetPID(float* p, float* i, float* d) {
PIDController::getInstance().getCoefficients(*p, *i, *d);
//PIDController::getInstance().getCoefficients(*p, *i, *d);
}
/*
void Comm_SetPID(float p, float i, float d) {
PIDController::getInstance().setCoefficients(p, i, d);
}
@@ -48,6 +49,6 @@ void Comm_StartOdometry(bool on) {
void Comm_AddWaypoint(int id, int type, float x, float y, float theta) {
Waypoint wp(id, type, x, y, theta);
WaypointManager::getInstance().addWaypoint(wp);
}
}*/
*/

5
Core/Src/modelec.cpp
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@@ -14,6 +14,7 @@
#include "pidPosition.h"
#include "usbd_cdc_if.h"
#include "commSTM.h"
#include "modelec.h"
extern "C" {
@@ -245,10 +246,6 @@ void ModelecOdometryLoop(void* pid, void* pidG, void* pidD) {
determinationCoefPosition(targetPoint, currentPoint, *pidPosition, *pidVitesseG, *pidVitesseD, motor.getLeftCurrentSpeed(), motor.getRightCurrentSpeed());
//HAL_Delay(1000);
motor.update();
}
publishStatus();