Carro Dual: Modo RC & Line Follower

/* USER CODE BEGIN Header */
/**
  ***********************************************************************
  *																		*
  * CARRO RC E SEGUIDOR DE LINHA										*
  * Projeto de Sistemas Embarcados @ Cesar School						*
  *																		*
  * "Every machine is a smoke machine if you operate it wrong enough"	*
  *																		*
  * Alunos: @frssm, @dca2, @hrm, @jhml, @rba, @rdmo, @rras2, @yri						*
  *																		*
  ***********************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "cmsis_os.h"
#include "stdio.h"
#include "string.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
EventGroupHandle_t modo_event_group;

#define MODO_RC     (1 << 0)
#define MODO_AUTO   (1 << 1)
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
#define NUM_SENSORS 8  // Número de sensores

#define MOTOR_L_IN1 GPIO_PIN_10  // Ajuste conforme sua conexão PB10
#define MOTOR_L_IN2 GPIO_PIN_5   // PB5
#define MOTOR_L_PWM GPIO_PIN_4  // PWM para o motor esquerdo PB4

#define MOTOR_R_IN1 GPIO_PIN_10 //PA10
#define MOTOR_R_IN2 GPIO_PIN_8  //PA8
#define MOTOR_R_PWM GPIO_PIN_7  // PWM para o motor direito PC7

#define MOTOR_L_PORT GPIOB  // Ajuste a porta correta
#define MOTOR_R_PORT GPIOA  // Ajuste a porta correta

#define PWM_MAX 100  // Definir velocidade máxima (0-100%)

/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/
ADC_HandleTypeDef hadc1;
TIM_HandleTypeDef htim3;
UART_HandleTypeDef huart2;
uint8_t sensor_values[NUM_SENSORS];

osThreadId defaultTaskHandle;
/* USER CODE BEGIN PV */

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_TIM3_Init(void);
static void MX_GPIO_Init(void);
static void MX_USART2_UART_Init(void);
static void MX_ADC1_Init(void);
void StartDefaultTask(void const * argument);

/* USER CODE BEGIN PFP */
// Mapeamento dos pinos no STM32
GPIO_TypeDef *SENSOR_PORT[NUM_SENSORS] = {GPIOA, GPIOA, GPIOA, GPIOA, GPIOA, GPIOC, GPIOC, GPIOB}; //PA0 PA1 PA4 PA6 PA7 PC4 PC5 PB1
uint16_t SENSOR_PIN[NUM_SENSORS] = {GPIO_PIN_0, GPIO_PIN_1, GPIO_PIN_4, GPIO_PIN_6, GPIO_PIN_7,	GPIO_PIN_4, GPIO_PIN_6, GPIO_PIN_1};

uint8_t sensor_values[8];  // Armazena os valores lidos
int sensor_positions[8] = {-3, -2, -1, 0, 0, 1, 2, 3};  // Posições relativas dos sensores
float centroid=0.0;
//threads que eu criei
void motores(void *argument);
void controle_carro(void *argument);

//variáveis globais para cálculo de PID
float Kp = 25.0;//Comece com Ki = 0. Mexa só no Kp e Kd primeiro.
float Ki = 0.0; //Aumente Kp até o robô reagir bem.
float Kd = 15.0;//Aumente Kd se ele estiver oscilando demais.
				//Só adicione Ki se ele estiver desviando com o tempo.
float error = 0;
float previous_error = 0;
float integral = 0;
float target_position = 0.0;  // Alvo do centroide (pode ajustar conforme seu mapeamento)

void read_sensors();
void print_sensor_values();
float calculate_centroid();

float compute_pid(float position);
void set_motor_speeds(float correction);
void motor_set_speed(int left_speed, int right_speed);
void motor_init();
/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{

  /* USER CODE BEGIN 1 */

  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_USART2_UART_Init();
  MX_TIM3_Init();
  MX_ADC1_Init();
  motor_init(); // aqui inicia os motores
  modo_event_group = xEventGroupCreate();
  xEventGroupSetBits(modo_event_group, MODO_RC); // começa no modo RC

  /* USER CODE BEGIN 2 */

  /* USER CODE END 2 */

  /* USER CODE BEGIN RTOS_MUTEX */

  /* USER CODE END RTOS_MUTEX */

  /* USER CODE BEGIN RTOS_SEMAPHORES */
  /* add semaphores, ... */
  /* USER CODE END RTOS_SEMAPHORES */

  /* USER CODE BEGIN RTOS_TIMERS */
  /* start timers, add new ones, ... */
  /* USER CODE END RTOS_TIMERS */

  /* USER CODE BEGIN RTOS_QUEUES */
  /* add queues, ... */
  /* USER CODE END RTOS_QUEUES */

  /* Create the thread(s) */
  /* definition and creation of defaultTask */
  osThreadDef(defaultTask, StartDefaultTask, osPriorityNormal, 0, 128);
  defaultTaskHandle = osThreadCreate(osThread(defaultTask), NULL);

  /* USER CODE BEGIN RTOS_THREADS */
  /* add threads, ... */
  xTaskCreate(motores, "startEngines", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL);
  xTaskCreate(controle_carro, "modoRC", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL);
  /* USER CODE END RTOS_THREADS */

  /* Start scheduler */
  osKernelStart();

  /* We should never get here as control is now taken by the scheduler */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */

  }
  /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Configure the main internal regulator output voltage
  */
  if (HAL_PWREx_ControlVoltageScaling(PWR_REGULATOR_VOLTAGE_SCALE1) != HAL_OK)
  {
    Error_Handler();
  }

  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
  RCC_OscInitStruct.PLL.PLLM = 1;
  RCC_OscInitStruct.PLL.PLLN = 10;
  RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV7;
  RCC_OscInitStruct.PLL.PLLQ = RCC_PLLQ_DIV2;
  RCC_OscInitStruct.PLL.PLLR = RCC_PLLR_DIV2;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }

  /** Initializes the CPU, AHB and APB buses clocks
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_4) != HAL_OK)
  {
    Error_Handler();
  }
}

/**
  * @brief ADC1 Initialization Function
  * @param None
  * @retval None
  */
static void MX_ADC1_Init(void)
{

  /* USER CODE BEGIN ADC1_Init 0 */

  /* USER CODE END ADC1_Init 0 */

  ADC_MultiModeTypeDef multimode = {0};
  ADC_ChannelConfTypeDef sConfig = {0};

  /* USER CODE BEGIN ADC1_Init 1 */

  /* USER CODE END ADC1_Init 1 */

  /** Common config
  */
  hadc1.Instance = ADC1;
  hadc1.Init.ClockPrescaler = ADC_CLOCK_ASYNC_DIV1;
  hadc1.Init.Resolution = ADC_RESOLUTION_12B;
  hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT;
  hadc1.Init.ScanConvMode = ADC_SCAN_DISABLE;
  hadc1.Init.EOCSelection = ADC_EOC_SINGLE_CONV;
  hadc1.Init.LowPowerAutoWait = DISABLE;
  hadc1.Init.ContinuousConvMode = DISABLE;
  hadc1.Init.NbrOfConversion = 1;
  hadc1.Init.DiscontinuousConvMode = DISABLE;
  hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START;
  hadc1.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_NONE;
  hadc1.Init.DMAContinuousRequests = DISABLE;
  hadc1.Init.Overrun = ADC_OVR_DATA_PRESERVED;
  hadc1.Init.OversamplingMode = DISABLE;
  if (HAL_ADC_Init(&hadc1) != HAL_OK)
  {
    Error_Handler();
  }

  /** Configure the ADC multi-mode
  */
  multimode.Mode = ADC_MODE_INDEPENDENT;
  if (HAL_ADCEx_MultiModeConfigChannel(&hadc1, &multimode) != HAL_OK)
  {
    Error_Handler();
  }

  /** Configure Regular Channel
  */
  sConfig.Channel = ADC_CHANNEL_1;
  sConfig.Rank = ADC_REGULAR_RANK_1;
  sConfig.SamplingTime = ADC_SAMPLETIME_2CYCLES_5;
  sConfig.SingleDiff = ADC_SINGLE_ENDED;
  sConfig.OffsetNumber = ADC_OFFSET_NONE;
  sConfig.Offset = 0;
  if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN ADC1_Init 2 */

  /* USER CODE END ADC1_Init 2 */

}

/**
  * @brief TIM3 Initialization Function
  * @param None
  * @retval None
  */
static void MX_TIM3_Init(void)
{

  /* USER CODE BEGIN TIM3_Init 0 */

  /* USER CODE END TIM3_Init 0 */

  TIM_MasterConfigTypeDef sMasterConfig = {0};
  TIM_OC_InitTypeDef sConfigOC = {0};

  /* USER CODE BEGIN TIM3_Init 1 */

  /* USER CODE END TIM3_Init 1 */
  htim3.Instance = TIM3;
  htim3.Init.Prescaler = 71;
  htim3.Init.CounterMode = TIM_COUNTERMODE_UP;
  htim3.Init.Period = 99;
  htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
  htim3.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
  if (HAL_TIM_PWM_Init(&htim3) != HAL_OK)
  {
    Error_Handler();
  }
  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
  if (HAL_TIMEx_MasterConfigSynchronization(&htim3, &sMasterConfig) != HAL_OK)
  {
    Error_Handler();
  }
  sConfigOC.OCMode = TIM_OCMODE_PWM1;
  sConfigOC.Pulse = 0;
  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
  if (HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
  {
    Error_Handler();
  }
  if (HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN TIM3_Init 2 */

  /* USER CODE END TIM3_Init 2 */
  HAL_TIM_MspPostInit(&htim3);

}


/**
  * @brief USART2 Initialization Function
  * @param None
  * @retval None
  */
static void MX_USART2_UART_Init(void)
{

  /* USER CODE BEGIN USART2_Init 0 */

  /* USER CODE END USART2_Init 0 */

  /* USER CODE BEGIN USART2_Init 1 */

  /* USER CODE END USART2_Init 1 */
  huart2.Instance = USART2;
  huart2.Init.BaudRate = 115200;
  huart2.Init.WordLength = UART_WORDLENGTH_8B;
  huart2.Init.StopBits = UART_STOPBITS_1;
  huart2.Init.Parity = UART_PARITY_NONE;
  huart2.Init.Mode = UART_MODE_TX_RX;
  huart2.Init.HwFlowCtl = UART_HWCONTROL_NONE;
  huart2.Init.OverSampling = UART_OVERSAMPLING_16;
  huart2.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
  huart2.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
  if (HAL_UART_Init(&huart2) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN USART2_Init 2 */

  /* USER CODE END USART2_Init 2 */

}

/**
  * @brief GPIO Initialization Function
  * @param None
  * @retval None
  */
static void MX_GPIO_Init(void)
{
  GPIO_InitTypeDef GPIO_InitStruct = {0};
  /* USER CODE BEGIN MX_GPIO_Init_1 */

  /* USER CODE END MX_GPIO_Init_1 */

  /* GPIO Ports Clock Enable */
  __HAL_RCC_GPIOC_CLK_ENABLE();
  __HAL_RCC_GPIOH_CLK_ENABLE();
  __HAL_RCC_GPIOA_CLK_ENABLE();
  __HAL_RCC_GPIOB_CLK_ENABLE();

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(GPIOA, LD2_Pin|GPIO_PIN_8|GPIO_PIN_10, GPIO_PIN_RESET);

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(GPIOB, GPIO_PIN_10|GPIO_PIN_5, GPIO_PIN_RESET);


  /*Configure GPIO pin : B1_Pin */
  GPIO_InitStruct.Pin = B1_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_IT_FALLING;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  HAL_GPIO_Init(B1_GPIO_Port, &GPIO_InitStruct);

  /*Configure GPIO pins : LD2_Pin PA8 PA10 */
  GPIO_InitStruct.Pin = LD2_Pin|GPIO_PIN_8|GPIO_PIN_10;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
 //LD2_GPIO_Port

  /*Configure GPIO pins : PA0 PA1 PA4 PA6 PA7 */
  GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_1|GPIO_PIN_4|GPIO_PIN_6|GPIO_PIN_7;
  GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
  GPIO_InitStruct.Pull = GPIO_PULLUP;
  HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);

  /*Configure GPIO pins : PC4 PC6 */
  GPIO_InitStruct.Pin = GPIO_PIN_4|GPIO_PIN_6;
  GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
  GPIO_InitStruct.Pull = GPIO_PULLUP;
  HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);

  /*Configure GPIO pin : PB1 */
  GPIO_InitStruct.Pin = GPIO_PIN_1;
  GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
  GPIO_InitStruct.Pull = GPIO_PULLUP;
  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);

  /*Configure GPIO pins : PB10 PB5 */
  GPIO_InitStruct.Pin = GPIO_PIN_10|GPIO_PIN_5;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);

  //motores
  // Configura pinos de direção como saída
  GPIO_InitStruct.Pin = MOTOR_L_IN1 | MOTOR_L_IN2;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  HAL_GPIO_Init(MOTOR_L_PORT, &GPIO_InitStruct);

  // Configura pinos de direção como saída
  GPIO_InitStruct.Pin = MOTOR_R_IN1 | MOTOR_R_IN2;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  HAL_GPIO_Init(MOTOR_R_PORT, &GPIO_InitStruct);

  // Configura pinos PWM como saída (opcional: configurar como PWM via Timer)
  GPIO_InitStruct.Pin = MOTOR_L_PWM;
  GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;  // Se usar Timer PWM
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
  GPIO_InitStruct.Alternate = GPIO_AF2_TIM3;  // <-- IMPORTANTE! Esse pino vai funcionar como canal de PWM do Timer 3
  HAL_GPIO_Init(MOTOR_L_PORT, &GPIO_InitStruct);

  GPIO_InitStruct.Pin = MOTOR_R_PWM;
  GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;  // Se usar Timer PWM
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
  GPIO_InitStruct.Alternate = GPIO_AF2_TIM3;  // <-- IMPORTANTE! Esse pino vai funcionar como canal de PWM do Timer 3
  HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);

  /* USER CODE BEGIN MX_GPIO_Init_2 */

  /* USER CODE END MX_GPIO_Init_2 */
}

/* USER CODE BEGIN 4 */

/*
 * MODO CONTROLE REMOTO
 */
void controle_carro(void *argument) {
	uint8_t ultimo_valor_pot = 255;
	char msgs[50];
    for (;;) {
        EventBits_t modo = xEventGroupGetBits(modo_event_group);
        if (modo & MODO_RC) {
            // Aqui você processa comandos recebidos via UART2
            // Exemplo simples: se receber 'A', gira à esquerda
            char comando;
            int16_t potenciometro;
			HAL_ADC_Start(&hadc1);
			HAL_ADC_PollForConversion(&hadc1, HAL_MAX_DELAY);
			potenciometro = (uint8_t)(HAL_ADC_GetValue(&hadc1) * 100 / 3970);//normalizando o valor
			int var;
			var = potenciometro/5;
			var*=5;
			// Se o valor do potenciômetro mudou, imprime
			if ((var-5) < potenciometro && potenciometro < (var+5) && var != ultimo_valor_pot) {
				sprintf(msgs,"Velocidade: %d\n\r",var);
				HAL_UART_Transmit(&huart2, (char*)msgs, strlen(msgs), 100);
				ultimo_valor_pot = var;
			}
            if (HAL_UART_Receive(&huart2, (uint8_t *)&comando, 1, 100) == HAL_OK) {
                switch (comando) {
                    case 'w'://frente
                    case 'W'://forward
                    	motor_set_speed(potenciometro, potenciometro); break;
                    case 's'://ré
                    case 'S'://backward
                    	motor_set_speed(-potenciometro, -potenciometro); break;
                    case 'a'://esquerda
                    case 'A'://lefs
                    	motor_set_speed(potenciometro, -potenciometro); break;
                    case 'd'://direita
                    case 'D'://right
                    	motor_set_speed(-potenciometro, potenciometro); break;
                    case 'q'://para
					case 'Q'://stop
						motor_set_speed(0, 0); break;
					case 'e'://led (easter egg)
					case 'E'://LED (easter egg)
						HAL_GPIO_TogglePin(LD2_GPIO_Port, LD2_Pin);break;
                    case 'f':  // comando para mudar para modo Follow
                    case 'F': //line follower
                        xEventGroupClearBits(modo_event_group, MODO_RC);
                        xEventGroupSetBits(modo_event_group, MODO_AUTO);
                        break;
                }
            }
        }
        vTaskDelay(pdMS_TO_TICKS(50));
    }
}
/**
  * SENSORES
  */

void read_sensors() {
    for (int i = 0; i < NUM_SENSORS; i++) {
        sensor_values[i] = HAL_GPIO_ReadPin(SENSOR_PORT[i], SENSOR_PIN[i]);
    }
}

void print_sensor_values() {
    char msg[50];
    sprintf(msg, "Sensores: %d %d %d %d %d %d %d %d\r\n",
            sensor_values[0], sensor_values[1], sensor_values[2], sensor_values[3], //sensores 2 e 3 sempre "1"
            sensor_values[4], sensor_values[5], sensor_values[6], sensor_values[7]); //sensores 6 e 7 sempre "0"
    HAL_UART_Transmit(&huart2, (uint8_t*)msg, strlen(msg), 100);
}
/*
 * PID
 */
float calculate_centroid() {

    int sum_weights = 0;
    int sum_values = 0;

    for (int i = 0; i < NUM_SENSORS; i++) {
        if (sensor_values[i] == 1) {  // Sensor detecta preto (linha)
            sum_weights += sensor_positions[i];
            sum_values++;
        }
    }

    if (sum_values == 0) {
        return -100.0f;  // Nenhum sensor detectou a linha (linha perdida)
    }

    return (float)sum_weights / sum_values;  // Centroide normalizado
}

float compute_pid(float position) {
    if (position ==0) {
        return 0;  // Linha perdida → nenhuma correção
    }

    error = position - target_position;
    integral += error;
    float derivative = error - previous_error;

    float correction = Kp * error + Ki * integral + Kd * derivative;
    previous_error = error;

    return correction;
}

/*
 * MOTORES
 */

//Função motores com PWM

void motor_init() {
	HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_1);
	HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_2);

	// Parar motores inicialmente
	HAL_GPIO_WritePin(GPIOB, GPIO_PIN_10, GPIO_PIN_RESET);
	HAL_GPIO_WritePin(GPIOB, GPIO_PIN_5, GPIO_PIN_RESET);
	HAL_GPIO_WritePin(GPIOA, GPIO_PIN_10, GPIO_PIN_RESET);
	HAL_GPIO_WritePin(GPIOA, GPIO_PIN_8, GPIO_PIN_RESET);

	__HAL_TIM_SET_COMPARE(&htim3, TIM_CHANNEL_1, 0);
	__HAL_TIM_SET_COMPARE(&htim3, TIM_CHANNEL_2, 0);
}
void motores(void *argument) {
    for (;;) {
        EventBits_t modo = xEventGroupGetBits(modo_event_group);
        if (modo & MODO_AUTO) {
            read_sensors();
            print_sensor_values();
            float pos = calculate_centroid();
            float corr = compute_pid(pos);
            if (pos == -100.0f) {
                motor_set_speed(30, -30);
            } else {
                set_motor_speeds(corr);
            }
            // Verifica se recebeu um 'r' na UART
			char c;
			if (HAL_UART_Receive(&huart2, (uint8_t *)&c, 1, 10) == HAL_OK) {
				if (c == 'r' || c == 'R') {
					// Muda pro modo RC
					xEventGroupClearBits(modo_event_group, MODO_AUTO);
					xEventGroupSetBits(modo_event_group, MODO_RC);
					// Parar os motores
					motor_set_speed(0, 0);
				}
				if (c=='e'||c=='E'){
					HAL_GPIO_TogglePin(LD2_GPIO_Port, LD2_Pin);
				}
			}
		}
	}
    vTaskDelay(pdMS_TO_TICKS(50));
}

void set_motor_speeds(float correction) {
    int base_speed = 70;  // Velocidade padrão (pode ajustar)
    int left_speed = base_speed + (int)(correction);
    int right_speed = base_speed - (int)(correction);

    // Saturação (evita valores negativos ou muito altos)
    if (left_speed > 100) left_speed = 100;
    if (right_speed > 100) right_speed = 100;
    if (left_speed < 0) left_speed = 0;
    if (right_speed < 0) right_speed = 0;

    motor_set_speed(left_speed, right_speed);  // Sua função para controlar os motores

}

void motor_set_speed(int left_speed, int right_speed) {
	// Limitar valores entre -100 e 100
	if (left_speed > 100) left_speed = 100;
	if (right_speed > 100) right_speed = 100;
	if (left_speed < -100) left_speed = -100;
	if (right_speed < -100) right_speed = -100;

	// Definir direção e PWM do motor esquerdo
	if (left_speed >= 0) {
		HAL_GPIO_WritePin(MOTOR_L_PORT, MOTOR_L_IN1, GPIO_PIN_RESET);
		HAL_GPIO_WritePin(MOTOR_L_PORT, MOTOR_L_IN2, GPIO_PIN_SET);
	} else {
		HAL_GPIO_WritePin(MOTOR_L_PORT, MOTOR_L_IN1, GPIO_PIN_SET);
		HAL_GPIO_WritePin(MOTOR_L_PORT, MOTOR_L_IN2, GPIO_PIN_RESET);
		left_speed = -left_speed;  // Inverter valor para PWM
	}
	__HAL_TIM_SET_COMPARE(&htim3, TIM_CHANNEL_1, (left_speed * PWM_MAX) / 100);  // Ajuste o Timer correto

	// Definir direção e PWM do motor direito
	if (right_speed >= 0) {
		HAL_GPIO_WritePin(MOTOR_R_PORT, MOTOR_R_IN1, GPIO_PIN_RESET);
		HAL_GPIO_WritePin(MOTOR_R_PORT, MOTOR_R_IN2, GPIO_PIN_SET);
	} else {
		HAL_GPIO_WritePin(MOTOR_R_PORT, MOTOR_R_IN1, GPIO_PIN_SET);
		HAL_GPIO_WritePin(MOTOR_R_PORT, MOTOR_R_IN2, GPIO_PIN_RESET);
		right_speed = -right_speed;
	}

	__HAL_TIM_SET_COMPARE(&htim3, TIM_CHANNEL_2, (right_speed * PWM_MAX) / 100);  // Ajuste o Timer correto
}

/* USER CODE END 4 */

/* USER CODE BEGIN Header_StartDefaultTask */
/**
  * @brief  Function implementing the defaultTask thread.
  * @param  argument: Not used
  * @retval None
  */
/* USER CODE END Header_StartDefaultTask */
void StartDefaultTask(void const * argument)
{
  /* USER CODE BEGIN 5 */
  /* Infinite loop */
  for(;;)
  {
    osDelay(1);
  }
  /* USER CODE END 5 */
}

/**
  * @brief  Period elapsed callback in non blocking mode
  * @note   This function is called  when TIM1 interrupt took place, inside
  * HAL_TIM_IRQHandler(). It makes a direct call to HAL_IncTick() to increment
  * a global variable "uwTick" used as application time base.
  * @param  htim : TIM handle
  * @retval None
  */
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
{
  /* USER CODE BEGIN Callback 0 */

  /* USER CODE END Callback 0 */
  if (htim->Instance == TIM1)
  {
    HAL_IncTick();
  }
  /* USER CODE BEGIN Callback 1 */

  /* USER CODE END Callback 1 */
}

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */
  __disable_irq();
  while (1)
  {
  }
  /* USER CODE END Error_Handler_Debug */
}

#ifdef  USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */