Moteur qui tourne dans les deux sens

CMakeLists.txt

@@ -19,6 +19,7 @@ target_include_directories(Mon_Projet PRIVATE Mon_Projet_ULD_API/inc/)
 target_link_libraries(Mon_Projet
   hardware_i2c 
   hardware_uart 
+  hardware_pwm
   pico_stdlib
   pico_multicore
 )

main.c

@@ -1,16 +1,77 @@
-/*****
+ /*****
  * Copyright (c) 2023 - Poivron Robotique
  *
  * SPDX-License-Identifier: BSD-3-Clause
 */
 #include "pico/stdlib.h"
+#include "hardware/pwm.h"
 #include <stdio.h>
 
-void main(void)
+#define LED_VERTE 25
+#define PIN_VITESSE_M1 2
+#define PIN_SENS_A_M1 0
+#define PIN_SENS_B_M1 1
+int M1_INITIALISE()
 {
-    stdio_init_all();
-	while(1){
-		printf("Exemple\n");
-		sleep_ms(1000);
-	}
+	gpio_init(PIN_VITESSE_M1);
+	gpio_init(PIN_SENS_A_M1);
+	gpio_init(PIN_SENS_B_M1);
+
+    gpio_set_dir(PIN_VITESSE_M1, GPIO_OUT);
+	gpio_set_dir(PIN_SENS_A_M1, GPIO_OUT);
+	gpio_set_dir(PIN_SENS_B_M1, GPIO_OUT);
+    
 }
+
+int M1_AVANCE()
+{
+
+	gpio_put(PIN_VITESSE_M1, 1);
+	gpio_put(PIN_SENS_A_M1, 1);
+	gpio_put(PIN_SENS_B_M1, 0);
+
+
+
+}
+
+int M1_RECULE()
+{
+
+	gpio_put(PIN_VITESSE_M1, 1);
+	gpio_put(PIN_SENS_A_M1, 0);
+	gpio_put(PIN_SENS_B_M1, 1);
+
+
+
+}
+
+
+
+
+
+
+
+void main()
+{
+	stdio_init_all();
+
+	// CLignottement LED
+	gpio_set_function(LED_VERTE, GPIO_FUNC_PWM);
+	pwm_set_wrap(4, 100);
+	pwm_set_chan_level(4, PWM_CHAN_B, 25);
+	pwm_set_enabled(4, true);
+
+	//Moteur 1
+
+	M1_INITIALISE();
+	while(1)
+	{
+
+		M1_AVANCE();
+		sleep_ms(3000);
+		M1_RECULE();
+		sleep_ms(3000);
+	
+	}
+
+}