modelec/odo_STM32
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comm de test fonctionnelle avec pc/rasp

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Maxime
2025-05-13 22:11:18 +02:00
parent 0886376b84
commit d4378b3af3
16 changed files with 741 additions and 849 deletions
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3
Core/Src/modelec.cpp
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@@ -12,6 +12,8 @@
#include "point.h"
#include "pidPosition.h"
#include "usbd_cdc_if.h"
#include "commSTM.h"
extern "C" {
extern TIM_HandleTypeDef htim3;
@@ -193,6 +195,7 @@ void ModelecOdometryLoop(void* pid, void* pidG, void* pidD) {
//On met à jour toutes les 10ms
if (isDelayPassed(10)) {
ModelecOdometryUpdate();
USB_Comm_Process();
/*
HAL_Delay(1000);
Point currentPoint(x, y,theta, StatePoint::INTERMEDIAIRE);