ajout de la souris et clavier pour la manette

Standard_robot/MDK-ARM/Standard_robot.uvoptx

@@ -427,7 +427,7 @@
       <GroupNumber>4</GroupNumber>
       <FileNumber>17</FileNumber>
       <FileType>1</FileType>
-      <tvExp>0</tvExp>
+      <tvExp>1</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
       <PathWithFileName>..\BSP\Driver\bsp_uart.c</PathWithFileName>

Standard_robot/Src/main.c

@@ -70,7 +70,7 @@ int16_t led_cnt;
 float target_speed;
 motor_t m2006;
 
-extern rc_info_t rc;
+extern RC_ctrl_t rc_ctrl;
 //char buf[200];
 //uint16_t pwm_pulse = 1080;  // default pwm pulse width:1080~1920
 
@@ -186,10 +186,10 @@ int main(void)
 //			PWM_SetAllDuty(&htim1, 0, 0, 0, 0);
     }
 		
-		m3508_frontleft.target =  4*rc.ch1 + 4*rc.ch2;
-		m3508_frontright.target = -(4*rc.ch1 - 4*rc.ch2);
-		m3508_backleft.target =   -(4*rc.ch1 + 4*rc.ch2);
-		m3508_backright.target =  4*rc.ch1 - 4*rc.ch2;
+		m3508_frontleft.target =  4*rc_ctrl.rc.ch[0] + 4*rc_ctrl.rc.ch[1];
+		m3508_frontright.target = -(4*rc_ctrl.rc.ch[0] - 4*rc_ctrl.rc.ch[1]);
+		m3508_backleft.target =   -(4*rc_ctrl.rc.ch[0] + 4*rc_ctrl.rc.ch[1]);
+		m3508_backright.target =  4*rc_ctrl.rc.ch[0] - 4*rc_ctrl.rc.ch[1];
 
 		get_motor_data(&m3508_frontleft);
 		get_motor_data(&m3508_frontright);
@@ -199,20 +199,20 @@ int main(void)
 		get_motor_data(&gm6020);
 
 		/*Affichage de donnees sur le OLED*/
-		oled_clear(Pen_Clear);
-		oled_printf(1, 1, "GM6020");
-		oled_printf(2, 1,"  Target: %f", gm6020.target);
-		oled_printf(3, 1,"  Speed: %i", gm6020.info.M3508_info.speed);
-		oled_printf(4, 1,"  Angle: %i", gm6020.info.M3508_info.angle);
-		oled_refresh_gram();
-
 //		oled_clear(Pen_Clear);
-//		oled_printf(0, 1, "Manette");
-//		oled_printf(1, 1,"  CH1: %i", rc.ch1);
-//		oled_printf(2, 1,"  CH2: %i", rc.ch2);
-//		oled_printf(3, 1,"  CH3: %i", rc.ch3);
-//		oled_printf(4, 1,"  CH4: %i", rc.ch4);
+//		oled_printf(1, 1, "GM6020");
+//		oled_printf(2, 1,"  Target: %f", gm6020.target);
+//		oled_printf(3, 1,"  Speed: %i", gm6020.info.M3508_info.speed);
+//		oled_printf(4, 1,"  Angle: %i", gm6020.info.M3508_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 ++;