position m3508 + correction numero roues

Device/list_motor.c

@@ -129,15 +129,24 @@ void motors_all_init(void){
 	motors_init(&gm6020_up,  0x205, GM6020);
 	motors_init(&m3508_frontleft,  0x201, M3508);
 	motors_init(&m3508_frontright,  0x202, M3508);
-	motors_init(&m3508_backleft,  0x203, M3508);
-	motors_init(&m3508_backright,  0x204, M3508);
+	motors_init(&m3508_backright,  0x203, M3508);
+	motors_init(&m3508_backleft,  0x204, M3508);
 	
-	gm6020_up.MIN_POSITION = 5565;
-	gm6020_up.MAX_POSITION = 6675;
-	gm6020_down.MIN_POSITION = 2519;
-	gm6020_down.MAX_POSITION = 7015;
+	// Paramtres ICRA
+//	gm6020_up.MIN_POSITION = 5565;
+//	gm6020_up.MAX_POSITION = 6675;
+//	gm6020_up.target = 6200;
+//	gm6020_down.MIN_POSITION = 2519;
+//	gm6020_down.MAX_POSITION = 7015;
+//	gm6020_down.target = 4750; 
+	
+	// Paramtres StandardMeca
+	gm6020_up.MIN_POSITION = 2220;
+	gm6020_up.MAX_POSITION = 3840;
+	gm6020_up.target = 3450;
+	gm6020_down.MIN_POSITION = 2800;
+	gm6020_down.MAX_POSITION = 6700;
 	gm6020_down.target = 4750; 
-	gm6020_up.target = 6200;
 }
 
 

Device/motor.c

@@ -92,7 +92,12 @@ void set_motor_speed(motor_t *motor)
 	float target = motor->target;
 	switch(motor->type){
 		case M3508:
+			if ((target < 100.0) && (target > -100.0)){
+				run_motor_from_command(motor, motor->pid_pos, target, motor->info.M3508_info.angle);
+				}
+				else{
 				run_motor_from_command(motor, motor->pid_speed, target, motor->info.M3508_info.speed);
+				}
 		case GM6020:
 				run_motor_from_command(motor, motor->pid_speed, target, motor->info.GM6020_info.speed);
 		case M2006: