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Firmware: Encoder initialization in start.cpp

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This commit is contained in:
Gabriel Lima
2025-07-05 01:23:04 -03:00
parent d1c5f44906
commit 6c8a9cccce
1 changed files with 12 additions and 0 deletions
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12
Firmware/OmniBot_RC/Application/start.cpp
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@@ -17,6 +17,7 @@
#include "Queue_STM32.hpp"
#include "CDC_STM32.hpp"
#include "MotorPID_STM32.hpp"
#include "Encoder_STM32.hpp"
#include "Components/ComputerComms_CDC/ComputerComms_CDC.hpp"
#include "Components/OmniBotController/OmniBotController.hpp"
@@ -28,6 +29,17 @@ GPIO_Pin_STM32 ledRed(GPIOD, GPIO_PIN_14);
GPIO_Pin_STM32 ledBlue(GPIOD, GPIO_PIN_15);
BinLeds discoveryLeds((GPIO_Pin*[]){&ledOrange, &ledGreen, &ledRed, &ledBlue}, 4);
// Encoders
extern TIM_HandleTypeDef htim2;
extern TIM_HandleTypeDef htim3;
extern TIM_HandleTypeDef htim4;
extern TIM_HandleTypeDef htim5;
Encoder_STM32 encoder0(&htim2);
Encoder_STM32 encoder1(&htim3);
Encoder_STM32 encoder2(&htim4);
Encoder_STM32 encoder3(&htim5);
std::array<Encoder*, 4> encoders = {&encoder0, &encoder1, &encoder2, &encoder3};
// Motors
MotorPID_STM32::Configuration motorConfig = {
.wheelRadius = 40,