Définition contrôleur moteur

chef/src/dimensions.h

@@ -0,0 +1,21 @@
+#ifndef __DIMENSIONS_H__
+#define __DIMENSIONS_H__
+
+#include <math.h>
+
+// TODO None of that is verified
+
+// [mm]
+#define WHEEL_DIAMETER 80.0
+// [mm]
+#define WHEEL_PERIMETER WHEEL_DIAMETER * M_PI
+// [cycles/revolution]
+#define CODER_RESOLUTION 100
+// [increments/revolution]
+#define CODER_DATA_RESOLUTION CODER_RESOLUTION * 4
+// [mm]
+#define CODER_DELTA_DISTANCE WHEEL_PERIMETER / CODER_DATA_RESOLUTION
+// [mm]
+#define DISTANCE_BETWEEN_WHEELS 250.0
+
+#endif

chef/src/movement.h

@@ -1,9 +1,8 @@
-#ifndef __MOVEMENT_H_
-#define __MOVEMENT_H_
 
-#include "CA.h"
 
-void brake();
-void aller(struct position* pos);
-
-#endif
+int bouger(float vitL, float vitR);
+// Vitesse en mm/s
+// Vitesse < 0 ⇒ sens inverse
+// Si vitesse < seuil ⇒ brake
+int brake();
+int freewheel();