#include "motor.h" #include "oled.h" #include "list_motor.h" motor_t gm6020; motor_t m3508_frontleft; motor_t m3508_frontright; motor_t m3508_backleft; motor_t m3508_backright; motor_t m2006; const pid_struct_t M3508_pid_speed = { //A VERIFIER 1, 2, 0.005, 2, 16000, 16000 }; const pid_struct_t M3508_pid_pos = { //A VERIFIER 0, 0.1, 0.005, 0, 16000, 16000 }; const pid_struct_t GM6020_pid_speed = { //A VERIFIER 1, 40, 10, 0, 30000, 30000 }; const pid_struct_t GM6020_pid_pos = { //A VERIFIER 0, 12, 3, 5, 10000, 10000 }; const pid_struct_t M2006_pid_speed = { //A FAIRE 1, 1.5, 0.1, 0, 16384, 16384 }; const pid_struct_t M2006_pid_pos = { //A FAIRE 0, 12, 3, 5, 10000, 10000 }; void motors_init(void){ gm6020.type = GM6020; gm6020.can_info.can_id = 0; gm6020.can_info.tx_id = 1; gm6020.can_info.rx_id = 0x205; gm6020.pid_pos = GM6020_pid_pos; gm6020.pid_speed = GM6020_pid_speed; m3508_frontleft.type = M3508; m3508_frontleft.can_info.can_id = 0; m3508_frontleft.can_info.tx_id = 0; m3508_frontleft.can_info.rx_id = 0x201; m3508_frontleft.pid_pos = M3508_pid_pos; m3508_frontleft.pid_speed = M3508_pid_speed; m3508_frontright.type = M3508; m3508_frontright.can_info.can_id = 0; m3508_frontright.can_info.tx_id = 0; m3508_frontright.can_info.rx_id = 0x202; m3508_frontright.pid_pos = M3508_pid_pos; m3508_frontright.pid_speed = M3508_pid_speed; m3508_backleft.type = M3508; m3508_backleft.can_info.can_id = 0; m3508_backleft.can_info.tx_id = 0; m3508_backleft.can_info.rx_id = 0x203; m3508_backleft.pid_pos = M3508_pid_pos; m3508_backleft.pid_speed = M3508_pid_speed; m3508_backright.type = M3508; m3508_backright.can_info.can_id = 0; m3508_backright.can_info.tx_id = 0; m3508_backright.can_info.rx_id = 0x204; m3508_backright.pid_pos = M3508_pid_pos; m3508_backright.pid_speed = M3508_pid_speed; m2006.type = M2006; m2006.can_info.can_id = 0; m2006.can_info.tx_id = 1; m2006.can_info.rx_id = 0x207; m2006.pid_pos = M2006_pid_pos; m2006.pid_speed = M2006_pid_speed; }