From 49c2979cf22db904084c20930f2d6bf0e12fe615 Mon Sep 17 00:00:00 2001
From: Samuel <samuel.kay@poivron-robotique.fr>
Date: Fri, 22 Dec 2023 19:54:12 +0100
Subject: [PATCH] 4 moteurs fonctionnels

---
 main.c | 118 ++++++++++++++++++++++++++++++++++++++++++++++++++++++++-
 1 file changed, 116 insertions(+), 2 deletions(-)

diff --git a/main.c b/main.c
index 3e308b3..195629f 100644
--- a/main.c
+++ b/main.c
@@ -31,6 +31,24 @@ void Motor1_forward(int speed);
 void Motor1_backward(int speed);
 // Set motor 1 speed and direction (negative value : backward / positive value : forward)
 void Motor1_speed(int speed);
+// Set motor 2 speed forward
+void Motor2_forward(int speed);
+// Set motor 2 speed backward
+void Motor2_backward(int speed);
+// Set motor 2 speed and direction (negative value : backward / positive value : forward)
+void Motor2_speed(int speed);
+// Set motor 3 speed forward
+void Motor3_forward(int speed);
+// Set motor 3 speed backward
+void Motor3_backward(int speed);
+// Set motor 3 speed and direction (negative value : backward / positive value : forward)
+void Motor3_speed(int speed);
+// Set motor 1 speed forward
+void Motor2_forward(int speed);
+// Set motor 1 speed backward
+void Motor3_backward(int speed);
+// Set motor 1 speed and direction (negative value : backward / positive value : forward)
+void Motor4_speed(int speed);
 
 void main(void)
 {
@@ -40,9 +58,15 @@ void main(void)
 
 	while(1)
 	{
-		Motor1_speed(-200);
+		Motor1_speed(-1000);
+		Motor2_speed(-1000);
+		Motor3_speed(-1000);
+		Motor4_speed(-1000);
 		sleep_ms(3000);
-		Motor1_speed(500);
+		Motor1_speed(1000);
+		Motor2_speed(1000);
+		Motor3_speed(1000);
+		Motor4_speed(1000);
 		sleep_ms(3000);
 	}
 
@@ -133,4 +157,94 @@ void Motor1_speed(int speed)
 	{
 		Motor1_forward(speed);
 	}
+}
+
+// Set motor 2 speed forward
+void Motor2_forward(int speed)
+{
+	pwm_set_chan_level(0, PWM_CHAN_B, speed);
+	gpio_put(MOTEUR2_PIN_SENS1, 0);
+	gpio_put(MOTEUR2_PIN_SENS2, 1);
+}
+
+// Set motor 2 speed backward
+void Motor2_backward(int speed)
+{
+	pwm_set_chan_level(0, PWM_CHAN_B, speed);
+	gpio_put(MOTEUR2_PIN_SENS1, 1);
+	gpio_put(MOTEUR2_PIN_SENS2, 0);
+}
+
+// Set motor 2 speed and direction (negative value : backward / positive value : forward)
+void Motor2_speed(int speed)
+{
+	if(speed < 0)
+	{
+		speed = -speed;
+		Motor2_backward(speed);
+	}
+	else
+	{
+		Motor2_forward(speed);
+	}
+}
+
+// Set motor 3 speed forward
+void Motor3_forward(int speed)
+{
+	pwm_set_chan_level(1, PWM_CHAN_A, speed);
+	gpio_put(MOTEUR3_PIN_SENS1, 0);
+	gpio_put(MOTEUR3_PIN_SENS2, 1);
+}
+
+// Set motor 3 speed backward
+void Motor3_backward(int speed)
+{
+	pwm_set_chan_level(1, PWM_CHAN_A, speed);
+	gpio_put(MOTEUR3_PIN_SENS1, 1);
+	gpio_put(MOTEUR3_PIN_SENS2, 0);
+}
+
+// Set motor 3 speed and direction (negative value : backward / positive value : forward)
+void Motor3_speed(int speed)
+{
+	if(speed < 0)
+	{
+		speed = -speed;
+		Motor3_backward(speed);
+	}
+	else
+	{
+		Motor3_forward(speed);
+	}
+}
+
+// Set motor 4 speed forward
+void Motor4_forward(int speed)
+{
+	pwm_set_chan_level(1, PWM_CHAN_B, speed);
+	gpio_put(MOTEUR4_PIN_SENS1, 0);
+	gpio_put(MOTEUR4_PIN_SENS2, 1);
+}
+
+// Set motor 4 speed backward
+void Motor4_backward(int speed)
+{
+	pwm_set_chan_level(1, PWM_CHAN_B, speed);
+	gpio_put(MOTEUR4_PIN_SENS1, 1);
+	gpio_put(MOTEUR4_PIN_SENS2, 0);
+}
+
+// Set motor 4 speed and direction (negative value : backward / positive value : forward)
+void Motor4_speed(int speed)
+{
+	if(speed < 0)
+	{
+		speed = -speed;
+		Motor4_backward(speed);
+	}
+	else
+	{
+		Motor4_forward(speed);
+	}
 }
\ No newline at end of file