31 lines
878 B
C
31 lines
878 B
C
#include "Orientation.h"
|
|
#include "math.h"
|
|
|
|
#define THRESHOLD 30
|
|
|
|
TIM_TypeDef * RECEIVER_TIMER = TIM4;
|
|
const int RECEIVER_CHANNEL = LL_TIM_CHANNEL_CH1;
|
|
|
|
TIM_TypeDef * DCMOTOR_TIMER = TIM2;
|
|
const int DCMOTOR_CHANNEL = LL_TIM_CHANNEL_CH2;
|
|
GPIO_TypeDef * DCMOTOR_GPIO = GPIOA;
|
|
const int DCMOTOR_PIN = LL_GPIO_PIN_2;
|
|
|
|
void Orientation_conf()
|
|
{
|
|
DCMotor_conf(DCMOTOR_TIMER, DCMOTOR_CHANNEL, DCMOTOR_GPIO, DCMOTOR_PIN);
|
|
RFReceiver_conf(RECEIVER_TIMER, LL_TIM_CHANNEL_CH1);
|
|
}
|
|
|
|
void Orientation_background()
|
|
{
|
|
const float speed = RFReceiver_getData(RECEIVER_TIMER);
|
|
|
|
//Si la vitesse (en valeur absolue) ne dépasse pas un certain seuil, on ne démarre pas le moteur
|
|
if (THRESHOLD < fabs(speed)) {
|
|
DCMotor_setSpeed(DCMOTOR_TIMER, DCMOTOR_CHANNEL, DCMOTOR_GPIO, DCMOTOR_PIN, 0);
|
|
}
|
|
else {
|
|
DCMotor_setSpeed(DCMOTOR_TIMER, DCMOTOR_CHANNEL, DCMOTOR_GPIO, DCMOTOR_PIN, speed);
|
|
}
|
|
}
|