From befacfdc788c6ae1f01a6e27230be85d8b51f2c6 Mon Sep 17 00:00:00 2001
From: Geoffrey Frogeye <geoffrey@frogeye.fr>
Date: Mon, 26 Mar 2018 10:07:21 +0200
Subject: [PATCH] =?UTF-8?q?D=C3=A9finition=20contr=C3=B4leur=20moteur?=
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---
 chef/src/dimensions.h | 21 +++++++++++++++++++++
 chef/src/movement.h   | 13 ++++++-------
 2 files changed, 27 insertions(+), 7 deletions(-)
 create mode 100644 chef/src/dimensions.h

diff --git a/chef/src/dimensions.h b/chef/src/dimensions.h
new file mode 100644
index 0000000..f5d4139
--- /dev/null
+++ b/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
diff --git a/chef/src/movement.h b/chef/src/movement.h
index caca772..e54ac11 100644
--- a/chef/src/movement.h
+++ b/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();