update 4 files and delete 4 files

Application_Library/Best_System_Robot/Include/core.h

@@ -15,7 +15,7 @@ extern "C" {
 #include "servo.h"
 #include "74HC595.h"
 #include "motor_shield.h"
-#include "move.h"
+#include "motor_control.h"
 #include "sensor.h"
 #include "robotic_arm.h"
 

Application_Library/Best_System_Robot/Include/motor_control.h

@@ -0,0 +1,25 @@
+#ifndef MOTOR_CONTROL_H
+#define MOTOR_CONTROL_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "motor_types.h"
+#include "motor_shield.h"
+
+extern const MotorThresholds WHEEL_THRESHOLDS[];
+
+// Function prototypes
+void adjust_thresholds(DC_Motor_TypeDef *motor, bool success);
+void soft_motor_control(void *motor_shield, Motor_Shield_Type type, uint8_t dc_motor_number, int target_speed);
+void adjust_motor_parameters(DC_Motor_TypeDef *motor, MovementMode mode);
+void set_wheel_modes(MovementMode mode);
+void set_wheel_speeds(int m1, int m2, int m3, int m4);
+void set_wheel_speeds_with_mode(int m1, int m2, int m3, int m4, MovementMode mode);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* MOTOR_CONTROL_H */

Application_Library/Best_System_Robot/Include/motor_shield.h

@@ -11,9 +11,16 @@ extern "C" {
 #include "servo.h"
 #include "74HC595.h"
 #include "timing_delays.h"
-#include "motor_controller.h"
+#include "motor_types.h"
 
 /* MACRO DEFINITIONS */
+#define DC_MOTOR_MIN 0
+#define DC_MOTOR_MAX 999
+#define MAX_ACCELERATION 1000
+#define MAX_ADJUSTMENT_FACTOR 0.8f
+#define MIN_ADJUSTMENT_FACTOR 0.3f
+#define STOP_ACCELERATION_FACTOR 1.5f  // Increase deceleration when stopping
+#define USE_BACK_EMF_COMPENSATION 0    // Set to 1 to enable back EMF compensation
 
 
 // Define a structure for EN pin
@@ -68,37 +75,32 @@ typedef struct {
 } L29XX;
 
 
-// Declare the global objects with extern keyword
+// Declare global objects
 extern Motor_Shield_V1 motor_shield_v1;
 extern Motor_Shield_L29XX motor_shield_l29xx;
 
-// Define an enum type to indicate the type of motor shield
-enum Motor_Shield_Type {MS_V1, MS_L29XX};
+// // Define an enum type to indicate the type of motor shield
+// enum Motor_Shield_Type {MS_V1, MS_L29XX};
 
-// Define an enum type variable to store the motor names and values
-enum Motor_Shield_Motor {M1, M2, M3, M4};
+// // Define an enum type variable to store the motor names and values
+// enum Motor_Shield_Motor {M1, M2, M3, M4};
 
-// Define an enum type variable to store the servo names and values
-// enum motor_shield_v1_servo {S1, S2};
+// // Define an enum type variable to store the servo names and values
+// // enum motor_shield_v1_servo {S1, S2};
 
 
-/* FUNCTION (Prototype) DEFINITIONS */
-DC_Motor_TypeDef *get_dc_motor(void *motor_shield, enum Motor_Shield_Type type, uint8_t dc_motor_number);
-
-void ms_init(enum Motor_Shield_Type type, bool enable_pwm);
+// Function prototypes
+void ms_init(Motor_Shield_Type type, bool enable_pwm);
 void init_motor_shield_v1();
 void init_motor_shield_l29xx();
-void ms_pwm_init(enum Motor_Shield_Type type);
-void ms_gpio_init(enum Motor_Shield_Type type);
-void ms_encoder_init(enum Motor_Shield_Type type);
-
+void ms_pwm_init(Motor_Shield_Type type);
+void ms_gpio_init(Motor_Shield_Type type);
+void ms_encoder_init(Motor_Shield_Type type);
+DC_Motor_TypeDef *get_dc_motor(void *motor_shield, Motor_Shield_Type type, uint8_t dc_motor_number);
 uint8_t get_motor_bit(uint8_t dc_motor_number, uint8_t bit_index);
-void set_motor_speed(void *motor_shield, enum Motor_Shield_Type type, uint8_t dc_motor_number, int target_speed);
-
-void ms_motor_control(void *motor_shield, enum Motor_Shield_Type type, uint8_t dc_motor_number, float motor_input);
+void set_motor_speed(void *motor_shield, Motor_Shield_Type type, uint8_t dc_motor_number, int target_speed);
+void ms_motor_control(void *motor_shield, Motor_Shield_Type type, uint8_t dc_motor_number, float motor_input);
 void ms_v1_servo_control(Motor_Shield_V1 *motor_shield, uint8_t servo_number, float servo_input, bool mode);
-void soft_motor_control(void *motor_shield, enum Motor_Shield_Type type, uint8_t dc_motor_number, int target_speed);
-
 
 #ifdef __cplusplus
 }

Application_Library/Best_System_Robot/Include/motor_types.h

@@ -0,0 +1,65 @@
+#ifndef MOTOR_TYPES_H
+#define MOTOR_TYPES_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdbool.h>
+#include <stdint.h>
+
+typedef enum {
+    MOVE,
+    TURN,
+    STRAFE,
+    DIAGONAL
+} MovementMode;
+
+typedef enum {
+    MS_V1,
+    MS_L29XX
+} Motor_Shield_Type;
+
+typedef enum {
+    M1,
+    M2,
+    M3,
+    M4
+} Motor_Shield_Motor;
+
+typedef struct {
+    int static_friction_threshold;
+    int low_speed_threshold;
+    int success_count;
+    int failure_count;
+    float kp;
+    float ki;
+    float kd;
+    float k_back_emf;  // Added this from your original code
+} MotorThresholds;
+
+typedef struct {
+    int target_speed;
+    int current_speed;
+    bool static_friction_overcome;
+    float integral_error;
+    float previous_error;
+    uint32_t last_update_time;
+    MotorThresholds thresholds;
+    MovementMode mode;
+} MotorController;
+
+// // Forward declarations
+// typedef struct My_GPIO_TypeDef My_GPIO_TypeDef;
+// typedef struct PWM_TypeDef PWM_TypeDef;
+// typedef struct DC_Motor_TypeDef DC_Motor_TypeDef;
+// typedef struct Motor_Shield_V1 Motor_Shield_V1;
+// typedef struct Motor_Shield_L29XX Motor_Shield_L29XX;
+// typedef struct NonBlockingDelay_TypeDef NonBlockingDelay_TypeDef;
+// typedef struct HC595 HC595;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* MOTOR_TYPES_H */