Projetos/OmniBot
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base: Projetos:8a3433c2dce072f99f4bc3d135189c773477d097
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Projetos:main
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compare: Projetos:6c8a9ccccec4d0c2bf1be3911f6b14805deb1b2a
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Projetos:main

3 Commits
8a3433c2dc ... 6c8a9cccce

Author SHA1 Message Date
Gabriel Lima
6c8a9cccce Firmware: Encoder initialization in start.cpp 2025-07-05 01:23:04 -03:00
Gabriel Lima
d1c5f44906 Firmware: Code generation 2025-07-05 01:22:45 -03:00
Gabriel Lima
d6ba0c847f RoboFramework and RoboFramework_STM32 submodules update 2025-07-05 01:22:29 -03:00
5 changed files with 18 additions and 6 deletions
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6
Firmware/OmniBot_RC/.cproject
View File

@@ -125,10 +125,10 @@
</toolChain>
</folderInfo>
<sourceEntries>
<entry excluding="Shared/RoboFramework_STM32/Src/I2C_Master_STM32.cpp" flags="VALUE_WORKSPACE_PATH" kind="sourcePath" name="Application"/>
<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Core"/>
<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Drivers"/>
<entry excluding="Shared/RoboFramework_STM32/Src/I2C_Master_STM32.cpp" flags="VALUE_WORKSPACE_PATH" kind="sourcePath" name="Application"/>
<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Middlewares"/>
<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Drivers"/>
<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="USB_DEVICE"/>
</sourceEntries>
</configuration>
@@ -249,8 +249,8 @@
</folderInfo>
<sourceEntries>
<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Core"/>
<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Drivers"/>
<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Middlewares"/>
<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Drivers"/>
<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="USB_DEVICE"/>
</sourceEntries>
</configuration>

2
Firmware/OmniBot_RC/Application/Shared/RoboFramework

Submodule Firmware/OmniBot_RC/Application/Shared/RoboFramework updated: c4b868de73...95d8f33cd4

2
Firmware/OmniBot_RC/Application/Shared/RoboFramework_STM32

Submodule Firmware/OmniBot_RC/Application/Shared/RoboFramework_STM32 updated: ae6efdfa7c...9094293c51

12
Firmware/OmniBot_RC/Application/start.cpp
View File

@@ -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,

2
Firmware/OmniBot_RC/OmniBot_RC.ioc
View File

@@ -538,7 +538,7 @@ ProjectManager.ToolChainLocation=
ProjectManager.UAScriptAfterPath=
ProjectManager.UAScriptBeforePath=
ProjectManager.UnderRoot=true
ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_DMA_Init-DMA-false-HAL-true,4-MX_SPI1_Init-SPI1-false-HAL-true,5-MX_SPI2_Init-SPI2-false-HAL-true,6-MX_TIM10_Init-TIM10-false-HAL-true,7-MX_USART2_UART_Init-USART2-false-HAL-true,8-MX_USB_OTG_FS_PCD_Init-USB_OTG_FS-false-HAL-true,8-MX_TIM1_Init-TIM1-false-HAL-true,9-MX_TIM2_Init-TIM2-false-HAL-true,10-MX_TIM3_Init-TIM3-false-HAL-true,11-MX_TIM4_Init-TIM4-false-HAL-true,12-MX_TIM5_Init-TIM5-false-HAL-true,13-MX_TIM8_Init-TIM8-false-HAL-true
ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_DMA_Init-DMA-false-HAL-true,4-MX_SPI1_Init-SPI1-false-HAL-true,5-MX_SPI2_Init-SPI2-false-HAL-true,6-MX_TIM10_Init-TIM10-false-HAL-true,7-MX_USART2_UART_Init-USART2-false-HAL-true,8-MX_TIM1_Init-TIM1-false-HAL-true,9-MX_TIM2_Init-TIM2-false-HAL-true,10-MX_TIM3_Init-TIM3-false-HAL-true,11-MX_TIM4_Init-TIM4-false-HAL-true,12-MX_TIM5_Init-TIM5-false-HAL-true,13-MX_TIM8_Init-TIM8-false-HAL-true,14-MX_USB_DEVICE_Init-USB_DEVICE-false-HAL-false
RCC.48MHZClocksFreq_Value=48000000
RCC.AHBFreq_Value=168000000
RCC.APB1CLKDivider=RCC_HCLK_DIV4