Since last post I made with Perceval a batch of 6 robots. We still have to test them all.
I also wrote a system to get coding wheel ticks with the ADC since we had no good result with the comparators. We tested it and it seems to be working.
I wrote smaller sin, cos, acos function that allow us the save 7KB in flash (otherwise the project didn’t link). Of course we have a slightly worsened precision but it should still do the job.
We tried to help Alban and Paul debugging without success …