Merge branch 'fonction_Sara' into 'master'

Fonction sara

See merge request polystar/robomaster/controle/controle-et-systeme!7

BSP @ a77a79c8

-Subproject commit 1cfd4a2bf6001fb18a671a08775f75b5d51baa3b
+Subproject commit a77a79c82a93154e6f458d65f994cce0f163f52a

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>
@@ -483,7 +483,7 @@
       <GroupNumber>5</GroupNumber>
       <FileNumber>21</FileNumber>
       <FileType>1</FileType>
-      <tvExp>0</tvExp>
+      <tvExp>1</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
       <PathWithFileName>..\BSP\Device\list_motor.c</PathWithFileName>

Standard_robot/Src/main.c

@@ -159,28 +159,24 @@ int main(void)
     /* USER CODE BEGIN 3 */
 				
 		/* scan is key be pressed down to change target speed and pwm pulse */
-    /*if (key_scan())
+    if (key_scan())
     {
 			m3508_frontleft.target += 500;
 			m3508_frontright.target += 500;
 			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);
 //			PWM_SetAllDuty(&htim1, 0, 0, 0, 0);
-    }*/
+    }
 		
 		if (rc_ctrl.rc.sw[0] == 2)
     {
@@ -234,10 +230,10 @@ int main(void)
 
 		/*Affichage de donnees sur le OLED*/
 		oled_clear(Pen_Clear);
-		oled_printf(1, 1, "M2006");
-		oled_printf(2, 1,"  Target: %f", gm6020_up.info.GM6020_info.angle);
-		oled_printf(3, 1,"  Speed: %i", gm6020_down.info.GM6020_info.angle);//info.M2006_info.speed
-		oled_printf(4, 1,"  Angle: %i", gm6020_up.info.GM6020_info.angle);
+		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_refresh_gram();
 
 //		oled_clear(Pen_Clear);