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36 lines
865 B
C
36 lines
865 B
C
#ifndef Motor_H
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#define Motor_H
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#include "stm32f10x.h"
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#include "system_dumby.h"
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extern uint16_t G_speedRight, G_speedLeft, G_lapsLeft, G_lapsRight;
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extern uint16_t tourG, tourD, tourPositionD,tourPositionG;
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/**
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* @brief Mode de fonctionnement des moteurs
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*/
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#define FORWARD 11 //
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#define REVERSE 12 //
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#define BRAKE 13 //
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void MAP_MotorPin(void);
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void INIT_TIM2(void);
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void INIT_OCMotorPwm(void);
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void commandeMoteur(void);
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void IC_TIM1_CHANEL3(void);
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void IC_TIM1_CHANEL1(void);
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void IT_TIM1(void);
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void cmdRightMotor(char mod, uint16_t pwm);
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void cmdLeftMotor(char mod, uint16_t pwm);
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void majVitesseMotorG(uint16_t pwm);
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void majVitesseMotorD(uint16_t pwm);
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void regulationMoteur(char modRight, char modLeft, uint16_t lapsRight, uint16_t lapsLeft, uint16_t speedRight, uint16_t speedLeft);
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#endif /* Motor_H */
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