position m3508 + correction numero roues

BSP @ 645a1cb8

-Subproject commit 1cfd4a2bf6001fb18a671a08775f75b5d51baa3b
+Subproject commit 645a1cb8acfd878204b39c235c8b83d428769da5

Standard_robot/MDK-ARM/Standard_robot.uvoptx

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

Standard_robot/Src/main.c

@@ -166,16 +166,12 @@ int main(void)
 			m3508_backleft.target += 500;
 			m3508_backright.target += 500;
 			
-			gm6020.target += 40;
-			
       if (m3508_frontleft.target > 2000)
       {
 				m3508_frontleft.target = 0;
 				m3508_frontright.target = 0;
 				m3508_backleft.target = 0;
 				m3508_backright.target = 0;
-				
-				gm6020.target = 0;
       }
 //			PWM_SetAllDuty(&htim1, 0.1f, 0.1f, 0.1f, 0.1f);
 //			HAL_Delay(2500);
@@ -209,13 +205,13 @@ int main(void)
     };
 		
 
-		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_backleft.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_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]*0.04;
+		gm6020_up.target = gm6020_up.target - rc_ctrl.rc.ch[2]*0.1;
 		
 		
 		if (gm6020_down.target > gm6020_down.MAX_POSITION){gm6020_down.target = gm6020_down.MAX_POSITION;}
@@ -236,8 +232,8 @@ int main(void)
 		oled_clear(Pen_Clear);
 		oled_printf(1, 1, "M3508");
 		oled_printf(2, 1,"  Target: %f", m3508_frontleft.target);
-		oled_printf(3, 1,"  Speed: %i", m3508_frontleft.info.M3508_info.speed);
-		oled_printf(4, 1,"  Angle: %i", m3508_frontleft.info.M3508_info.angle);
+		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);
@@ -264,7 +260,7 @@ int main(void)
 		set_motor_position(&gm6020_up);
 		set_motor_position(&gm6020_down);
 
-    set_motor_voltage(0, &m3508_frontleft, &m3508_frontright, &m3508_backleft, &m3508_backright); //0x200
+    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);