cleaning code and add robot_type choice

BSP @ 7403263c

-Subproject commit 645a1cb8acfd878204b39c235c8b83d428769da5
+Subproject commit 7403263cea17cde4e7126222ead68d24b9255acf

Standard_robot/MDK-ARM/Standard_robot.uvoptx

@@ -471,7 +471,7 @@
       <GroupNumber>5</GroupNumber>
       <FileNumber>20</FileNumber>
       <FileType>1</FileType>
-      <tvExp>0</tvExp>
+      <tvExp>1</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
       <PathWithFileName>..\BSP\Device\motor.c</PathWithFileName>

Standard_robot/Src/main.c

@@ -157,76 +157,23 @@ int main(void)
     /* USER CODE END WHILE */
 
     /* USER CODE BEGIN 3 */
-				
-		/* scan is key be pressed down to change target speed and pwm pulse */
-    if (key_scan())
-    {
-			m3508_frontleft.target += 500;
-			m3508_frontright.target += 500;
-			m3508_backleft.target += 500;
-			m3508_backright.target += 500;
-			
-      if (m3508_frontleft.target > 2000)
-      {
-				m3508_frontleft.target = 0;
-				m3508_frontright.target = 0;
-				m3508_backleft.target = 0;
-				m3508_backright.target = 0;
-      }
-//			PWM_SetAllDuty(&htim1, 0.1f, 0.1f, 0.1f, 0.1f);
-//			HAL_Delay(2500);
-//			PWM_SetAllDuty(&htim1, 0, 0, 0, 0);
-    }
 		
-		if (rc_ctrl.rc.sw[0] == 2)
-    {
-			m2006.target = 0;
-    };
-		if (rc_ctrl.rc.sw[0] == 3)
-    {
-			m2006.target = 2000;
-    };
-		if (rc_ctrl.rc.sw[0] == 1)
-    {
-			m2006.target = 5000;
-    };
+		/******************************************************************/
+		/*				PENSER A CHANGER LE TYPE DE ROBOT SI BESOIN							*/
+		/*				(aller dans motor.h et changer ROBOT_TYPE)							*/
+		/******************************************************************/
 		
-		if (rc_ctrl.rc.sw[1] == 2)
-    {
-			PWM_SetAllDuty(&htim1, 0.0f, 0.0f, 0.0f, 0.0f);
-    };
-		if (rc_ctrl.rc.sw[1] == 3)
-    {
-			PWM_SetAllDuty(&htim1, 0.25f, 0.25f, 0.25f, 0.25f);
-    };
-		if (rc_ctrl.rc.sw[1] == 1)
+		/* scan if key is pressed down */
+    if (key_scan())
     {
-			PWM_SetAllDuty(&htim1, 0.5f, 0.5f, 0.5f, 0.5f);
-    };
-		
-
-		m3508_frontleft.target =  MAX_BASE_SPEED_COEFF*(rc_ctrl.rc.ch[0] + rc_ctrl.rc.ch[1] - rc_ctrl.rc.ch[4]);
-		m3508_frontright.target = -MAX_BASE_SPEED_COEFF*(rc_ctrl.rc.ch[0] - rc_ctrl.rc.ch[1] + rc_ctrl.rc.ch[4]);
-		m3508_backright.target =  -MAX_BASE_SPEED_COEFF*(rc_ctrl.rc.ch[0] + rc_ctrl.rc.ch[1] + rc_ctrl.rc.ch[4]);
-		m3508_backleft.target =   MAX_BASE_SPEED_COEFF*(rc_ctrl.rc.ch[0] - rc_ctrl.rc.ch[1] - rc_ctrl.rc.ch[4]);
-		
-		gm6020_down.target = gm6020_down.target - rc_ctrl.rc.ch[3]*0.1;
-		gm6020_up.target = gm6020_up.target - rc_ctrl.rc.ch[2]*0.1;
-		
+			/* put here the actions you want to do when key is pressed */
+    }
 		
-		if (gm6020_down.target > gm6020_down.MAX_POSITION){gm6020_down.target = gm6020_down.MAX_POSITION;}
-		if (gm6020_down.target < gm6020_down.MIN_POSITION){gm6020_down.target = gm6020_down.MIN_POSITION;}
-		if (gm6020_up.target > gm6020_up.MAX_POSITION){gm6020_up.target = gm6020_up.MAX_POSITION;}
-		if (gm6020_up.target < gm6020_up.MIN_POSITION){gm6020_up.target = gm6020_up.MIN_POSITION;}
+		/* Setting the target for all motors according to the data received from the remote controler */
+		set_all_targets_from_rc(); 
 		
-
-		get_motor_data(&m3508_frontleft);
-		get_motor_data(&m3508_frontright);
-		get_motor_data(&m3508_backleft);
-		get_motor_data(&m3508_backright);
-		get_motor_data(&m2006);
-		get_motor_data(&gm6020_up);
-		get_motor_data(&gm6020_down);
+		/* Command all motors according to the target fixed */
+		command_all_motors();
 
 		/*Affichage de donnees sur le OLED*/
 		oled_clear(Pen_Clear);
@@ -235,14 +182,6 @@ int main(void)
 		oled_printf(3, 1,"  Speed: %i", gm6020_up.info.GM6020_info.angle);
 		oled_printf(4, 1,"  Angle: %i", gm6020_down.info.GM6020_info.angle);
 		oled_refresh_gram();
-
-//		oled_clear(Pen_Clear);
-//		oled_printf(0, 1, "Manette");
-//		oled_printf(1, 1,"  CH1: %i", rc_ctrl.rc.ch[0]);
-//		oled_printf(2, 1,"  CH2: %i", rc_ctrl.rc.ch[1]);
-//		oled_printf(3, 1,"  CH3: %i", rc_ctrl.rc.ch[2]);
-//		oled_printf(4, 1,"  CH4: %i", rc_ctrl.rc.ch[3]);
-//		oled_refresh_gram();
 		
      /* led blink */
     led_cnt ++;
@@ -252,17 +191,6 @@ int main(void)
       LED_RED_TOGGLE(); //blink cycle 500ms
     }
 		
-		set_motor_speed(&m3508_frontleft);
-		set_motor_speed(&m3508_frontright);
-		set_motor_speed(&m3508_backleft);
-		set_motor_speed(&m3508_backright);
-		set_motor_speed(&m2006);
-		set_motor_position(&gm6020_up);
-		set_motor_position(&gm6020_down);
-
-    set_motor_voltage(0, &m3508_frontleft, &m3508_frontright, &m3508_backright, &m3508_backleft); //0x200
-		set_motor_voltage(1, &gm6020_up, &gm6020_down, &m2006, NULL); //0x1ff
-		
 		HAL_Delay(10);	
   }
   /* USER CODE END 3 */