creata timeline con tempi in decimi

2026-05-02 13:05:31 +02:00
parent a9e6c6c640
commit 18437a0c9c
120 changed files with 234587 additions and 64394 deletions
--- a/workspace/AUTOM10/.settings/language.settings.xml
+++ b/workspace/AUTOM10/.settings/language.settings.xml
@@ -5,7 +5,7 @@
 			<provider-reference id="org.eclipse.cdt.ui.UserLanguageSettingsProvider" ref="shared-provider"/>
 			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
 			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
-			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-926139709518735970" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="1980045256490408098" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
 				<language-scope id="org.eclipse.cdt.core.gcc"/>
 				<language-scope id="org.eclipse.cdt.core.g++"/>
 			</provider>
@@ -16,7 +16,7 @@
 			<provider-reference id="org.eclipse.cdt.ui.UserLanguageSettingsProvider" ref="shared-provider"/>
 			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
 			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
-			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-926139709518735970" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="1980045256490408098" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
 				<language-scope id="org.eclipse.cdt.core.gcc"/>
 				<language-scope id="org.eclipse.cdt.core.g++"/>
 			</provider>
@@ -27,7 +27,7 @@
 			<provider-reference id="org.eclipse.cdt.ui.UserLanguageSettingsProvider" ref="shared-provider"/>
 			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
 			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
-			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-926139709518735970" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="1980045256490408098" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
 				<language-scope id="org.eclipse.cdt.core.gcc"/>
 				<language-scope id="org.eclipse.cdt.core.g++"/>
 			</provider>
@@ -38,7 +38,7 @@
 			<provider-reference id="org.eclipse.cdt.ui.UserLanguageSettingsProvider" ref="shared-provider"/>
 			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
 			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
-			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-926139709518735970" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="1980045256490408098" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
 				<language-scope id="org.eclipse.cdt.core.gcc"/>
 				<language-scope id="org.eclipse.cdt.core.g++"/>
 			</provider>
--- a/workspace/AUTOM10/Core/Inc/main.h
+++ b/workspace/AUTOM10/Core/Inc/main.h
@@ -56,36 +56,10 @@ typedef enum{
 	omM4bw2,
 	omStopMan,
 	omapertura0,
-	omapertura1,
-	omapertura2,
-	omapertura3,
-	omapertura4,
-	omapertura5,
-	omapertura6,
-	omapertura7,
-	omapertura8,
-	omapertura9,
-	omapertura10,
-	omapertura11,
-	omapertura12,
-	omapertura13,
-	omapertura14,
 	omstopapertura,
 	omaperto,
 	omchiusura1,
-	omchiusura2,
-	omchiusura3,
-	omchiusura4,
-	omchiusura5,
-	omchiusura6,
-	omchiusura7,
-	omchiusura8,
-	omchiusura9,
-	omchiusura10,
-	omchiusura11,
-	omchiusura12,
-	omchiusura13,
-	omchiusura14,
+
 	omstopchiusura,
 }omCiclo_st;
 /* USER CODE END ET */
--- a/workspace/AUTOM10/Core/Inc/pwm.h
+++ b/workspace/AUTOM10/Core/Inc/pwm.h
@@ -32,6 +32,24 @@ uint8_t ramp(uint8_t mot,uint8_t dir,uint8_t percStart,uint8_t percEnd,uint8_t t
 #define FWMot4 TIM_CHANNEL_3
 #define BWMot4 TIM_CHANNEL_4

+#define P1START 0x01
+#define P1STOP  0x02
+#define P2START 0x04
+#define P2STOP  0x08
+#define M1FW  0x10
+#define M1BW  0x20
+#define M2FW  0x40
+#define M2BW  0x80
+#define M3FW  0x100
+#define M3BW  0x200
+#define M4FW  0x400
+#define M4BW  0x800
+
+#define M1 1
+#define M2 2
+#define M3 3
+#define M4 4
+
 #define FW 0
 #define BW 1

--- a/workspace/AUTOM10/Core/Src/eeprom.c
+++ b/workspace/AUTOM10/Core/Src/eeprom.c
@@ -1,5 +1,7 @@
+#include <stdio.h>
+#include <string.h>
 #include "eeprom.h"
-
+extern UART_HandleTypeDef huart1;
 /*
 * Record format (4 bytes):
 *  [0] VirtAddress (uint16_t)
@@ -18,10 +20,10 @@ extern uint16_t m3pwmap;
 extern uint16_t m3pwmch;
 extern uint16_t m4pwmap;
 extern uint16_t m4pwmch;
-extern uint16_t t1ap;
-extern uint16_t t2ap;
-extern uint16_t t3ap;
-extern uint16_t t4ap;
+extern uint16_t m1TimeoutMan;
+extern uint16_t m2TimeoutMan;
+extern uint16_t m3TimeoutMan;
+extern uint16_t m4TimeoutMan;
 extern uint16_t twap;
 extern uint16_t tramp;
 extern uint16_t t1ch;
@@ -36,7 +38,25 @@ extern uint16_t m2pwmMan;
 extern uint16_t m3pwmMan;
 extern uint16_t m4pwmMan;

-const uint8_t deftab[EE_NUM_VIRTUAL_ADDR]={
+
+extern uint16_t apM1start;
+extern uint16_t apM1stop;
+extern uint16_t apM2start;
+extern uint16_t apM2stop;
+extern uint16_t apM3start;
+extern uint16_t apM3stop;
+extern uint16_t apM4start;
+extern uint16_t apM4stop;
+extern uint16_t chM1start;
+extern uint16_t chM1stop;
+extern uint16_t chM2start;
+extern uint16_t chM2stop;
+extern uint16_t chM3start;
+extern uint16_t chM3stop;
+extern uint16_t chM4start;
+extern uint16_t chM4stop;
+
+const uint16_t deftab[EE_NUM_VIRTUAL_ADDR]={
 	40,	//m1pwmap
 	60, //m1pwmch
 	70, //m2pwmap
@@ -49,10 +69,10 @@ const uint8_t deftab[EE_NUM_VIRTUAL_ADDR]={
 	20, //m2rampstart
 	20, //m3rampstart
 	20, //m4rampstart
-	28,	//t1ap
-	4,	//t2ap
-	10,  //t3ap
-	40, //t4ap
+	230,//m1timeoutman
+	100,//m2timeoutman
+	130,//m3timeoutman
+	300,//m4timeoutman
 	1,  //twap
 	27,  //t1ch
 	10,  //t2ch
@@ -69,22 +89,22 @@ const uint8_t deftab[EE_NUM_VIRTUAL_ADDR]={
 	40,	 //m4pwmMan
 	50,  //trampman
 	10,  //tramp
-	40,
-	60,
-	70,
-	70,
-	35,
-	40,
-	40,
-	40,
-	20,
-	20,
-	20,
-	20,
-	28,
-	4,
-	10,
-	40,
+	310,   //apM1start;
+	450,   //apM1stop;
+	30,   //apM2start;
+	310,  //apM2stop;
+	350,   //apM3start;
+	450,   //apM3stop;
+	450,   //apM4start;
+	850,   //apM4stop;
+	10,   //chM1start;
+	280,   //chM1stop;
+	280,   //chM2start;
+	580,   //chM2stop;
+	20,   //chM3start;
+	280,   //chM3stop;
+	280,   //chM4start;
+	680,   //chM4stop;
 	1,
 	27,
 	10,
@@ -403,6 +423,7 @@ uint16_t EE_WriteVariable(uint16_t VirtAddress, uint16_t Data)
 }

 void loadEE(void){
+	char s [200];
 	EEW_Read(M1PWMAP, &m1pwmap);
 	EEW_Read(M1PWMCH, &m1pwmch);
 	EEW_Read(M2PWMAP, &m2pwmap);
@@ -411,16 +432,11 @@ void loadEE(void){
 	EEW_Read(M3PWMCH, &m3pwmch);
 	EEW_Read(M4PWMAP, &m4pwmap);
 	EEW_Read(M4PWMCH, &m4pwmch);
-	EEW_Read(T1AP, &t1ap);
-	EEW_Read(T2AP, &t2ap);
-	EEW_Read(T3AP, &t3ap);
-	EEW_Read(T4AP, &t4ap);
-	EEW_Read(TWAP, &twap);
-	EEW_Read(T1CH, &t1ch);
-	EEW_Read(T2CH, &t2ch);
-	EEW_Read(T3CH, &t3ch);
-	EEW_Read(T4CH, &t4ch);
-	EEW_Read(TWCH, &twch);
+	EEW_Read(M1TIMEOUTMAN, &m1TimeoutMan);
+	EEW_Read(M2TIMEOUTMAN, &m2TimeoutMan);
+	EEW_Read(M3TIMEOUTMAN, &m3TimeoutMan);
+	EEW_Read(M4TIMEOUTMAN, &m4TimeoutMan);
+
 	EEW_Read(TRAMP1, &tramp1);
 	EEW_Read(M1PWMMAN, &m1pwmMan);
 	EEW_Read(M2PWMMAN, &m2pwmMan);
@@ -428,4 +444,34 @@ void loadEE(void){
 	EEW_Read(M4PWMMAN, &m4pwmMan);
 	EEW_Read(TRAMPMAN, &trampman);
 	EEW_Read(TRAMP, &tramp);
+
+	EEW_Read(APM1START,&apM1start);
+	EEW_Read(APM1STOP ,&apM1stop);
+	EEW_Read(APM2START,&apM2start);
+	EEW_Read(APM2STOP ,&apM2stop);
+	EEW_Read(APM3START,&apM3start);
+	EEW_Read(APM3STOP ,&apM3stop);
+	EEW_Read(APM4START,&apM4start);
+	EEW_Read(APM4STOP ,&apM4stop);
+	EEW_Read(CHM1START,&chM1start);
+	EEW_Read(CHM1STOP ,&chM1stop);
+	EEW_Read(CHM2START,&chM2start);
+	EEW_Read(CHM2STOP ,&chM2stop);
+	EEW_Read(CHM3START,&chM3start);
+	EEW_Read(CHM3STOP ,&chM3stop);
+	EEW_Read(CHM4START,&chM4start);
+	EEW_Read(CHM4STOP ,&chM4stop);
+
+	sprintf((char*)s,"LoadEE\n");
+	HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
+	sprintf((char*)s,"\nm1pwmap=%d m1pwmch=%d m2pwmap=%d m2pwmch=%d m3pwmap=%d m3pwmch=%d m4pwmap=%d m4pwmch=%d",m1pwmap,m1pwmch,m2pwmap,m2pwmch,m3pwmap,m3pwmch,m4pwmap, m4pwmch);
+	HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
+	sprintf((char*)s,"\nm1TimeoutMan=%d m2TimeoutMan=%d m3TimeoutMan=%d m4TimeoutMan=%d ",m1TimeoutMan,m2TimeoutMan,m3TimeoutMan,m4TimeoutMan);
+	HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
+	sprintf((char*)s,"\ntramp=%d trampman=%d",tramp,trampman);
+	HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
+	sprintf((char*)s,"\nm1pwmMan=%d m2pwmMan=%d m3pwmMan=%d m4pwmMan=%d",m1pwmMan,m2pwmMan,m3pwmMan,m4pwmMan);
+	HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
+
+
 }
--- a/workspace/AUTOM10/Core/Src/eeprom.h
+++ b/workspace/AUTOM10/Core/Src/eeprom.h
@@ -78,16 +78,10 @@ typedef enum
 #define M2RAMPSTART 9 //m2rampstart
 #define M3RAMPSTART 10 //m3rampstart
 #define M4RAMPSTART 11 //m4rampstart
-#define T1AP 12 //t1ap
-#define T2AP 13 //t2ap
-#define T3AP 14 //t3ap
-#define T4AP 15 //t4ap
-#define TWAP 16 //twap
-#define T1CH 17 //t1ch
-#define T2CH 18 //t2ch
-#define T3CH 19 //t3ch
-#define T4CH 20 //t4ch
-#define TWCH 21 //twch
+#define M1TIMEOUTMAN 12 //timeout M1 manuale
+#define M2TIMEOUTMAN 13 //timeout M2 manuale
+#define M3TIMEOUTMAN 14 //timeout M3 manuale
+#define M4TIMEOUTMAN 15 //timeout M4 manuale

 #define TRAMP1   25  //tramp1
 #define M1PWMMAN 26 //m1pwmMan
@@ -97,6 +91,23 @@ typedef enum
 #define TRAMPMAN 30 //trampman
 #define TRAMP 31 //tramp

+#define APM1START 32 //apM1start;
+#define APM1STOP  33 //apM1stop;
+#define APM2START 34 //apM2start;
+#define APM2STOP  35 //apM2stop;
+#define APM3START 36 //apM3start;
+#define APM3STOP  37 //apM3stop;
+#define APM4START 38 //apM4start;
+#define APM4STOP  39 //apM4stop;
+#define CHM1START 40 //chM1start;
+#define CHM1STOP  41 //chM1stop;
+#define CHM2START 42 //chM2start;
+#define CHM2STOP  43 //chM2stop;
+#define CHM3START 44 //chM3start;
+#define CHM3STOP  45 //chM3stop;
+#define CHM4START 46 //chM4start;
+#define CHM4STOP  47 //chM4stop;
+

 /* Virtual address table (defined in eeprom.c, can be customized) */
 extern const uint16_t EE_VirtAddrs[EE_NUM_VIRTUAL_ADDR];
--- a/workspace/AUTOM10/Core/Src/main.c
+++ b/workspace/AUTOM10/Core/Src/main.c
@@ -28,6 +28,7 @@
 #include "pwm.h"
 #include "adc.h"
 #include "debug.h"
+#include "mot.h"
 /* USER CODE END Includes */

 /* Private typedef -----------------------------------------------------------*/
@@ -38,27 +39,13 @@ typedef enum{
 	bzmoving,
 	bzwarning,
 }stBuz_st;
+
+
 /* USER CODE END PTD */

 /* Private define ------------------------------------------------------------*/
 /* USER CODE BEGIN PD */
-#define P1START 0x01
-#define P1STOP  0x02
-#define P2START 0x04
-#define P2STOP  0x08
-#define M1FW  0x10
-#define M1BW  0x20
-#define M2FW  0x40
-#define M2BW  0x80
-#define M3FW  0x100
-#define M3BW  0x200
-#define M4FW  0x400
-#define M4BW  0x800

-#define M1 1
-#define M2 2
-#define M3 3
-#define M4 4

 /* USER CODE END PD */

@@ -104,10 +91,10 @@ uint16_t t2ap;
 uint16_t t3ap;
 uint16_t t4ap;
 uint16_t twap;
-uint16_t t1ch;
-uint16_t t2ch;
-uint16_t t3ch;
-uint16_t t4ch;
+uint16_t m1TimeoutMan;
+uint16_t m2TimeoutMan;
+uint16_t m3TimeoutMan;
+uint16_t m4TimeoutMan;
 uint16_t twch;
 uint16_t tramp;
 uint16_t tramp1;
@@ -117,6 +104,24 @@ uint16_t m2pwmMan;
 uint16_t m3pwmMan;
 uint16_t m4pwmMan;

+uint16_t apM1start;
+uint16_t apM1stop;
+uint16_t apM2start;
+uint16_t apM2stop;
+uint16_t apM3start;
+uint16_t apM3stop;
+uint16_t apM4start;
+uint16_t apM4stop;
+uint16_t chM1start;
+uint16_t chM1stop;
+uint16_t chM2start;
+uint16_t chM2stop;
+uint16_t chM3start;
+uint16_t chM3stop;
+uint16_t chM4start;
+uint16_t chM4stop;
+
+
 uint16_t mrampstart[4];
 uint16_t stPulsanti=0;
 omCiclo_st stCiclo=omchiuso;
@@ -170,6 +175,8 @@ void HAL_SYSTICK_Callback(void){
 		  for(i=0;i<4;i++){
 			  if(rtramp[i])rtramp[i]--;
 		  }
+		  if(rtCiclo<0xffff)rtCiclo++;
+
 //**** gestione buzzer *****************************************************************************
 		  if(stBuz==bzmoving){
 			  if(c1s>=5)HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_RESET);else HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_SET);
@@ -179,9 +186,8 @@ void HAL_SYSTICK_Callback(void){
 			  HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_RESET);
 		  }
 //**************************************************************************************************
-		  if (++c1s >= 10) {               // 10 ms
+		  if (++c1s >= 10) {               // 1 s
 			  c1s = 0;
-			  if(rtCiclo)rtCiclo--;
 			  HAL_GPIO_TogglePin(LED2_GPIO_Port, LED2_Pin);
 		  }
 	  }
@@ -244,105 +250,89 @@ void manageCiclo(void){
 		case omchiuso:
 			if(stPulsanti&P1START){
 				stBuz=bzwarning;
-				rtCiclo=3;
+				rtCiclo=0;
 				stCiclo=omapertura0;
+				(void)m1ap();(void)m2ap();(void)m3ap();(void)m4ap();
 			}else if(stPulsanti&P1STOP)stCiclo=omstopapertura;
-//			else if(stPulsanti&M1FW){
-//				stBuz=bzmoving;
-//				(void)ramp(M1,FW,mrampstart[M1-1],m1pwmMan,trampman,RAMPINIT);
-//				stCiclo=omM1fw1;
-//			}else if(stPulsanti&M1BW){
-//				stBuz=bzmoving;
-//				(void)ramp(M1,BW,mrampstart[M1-1],m1pwmMan,trampman,RAMPINIT);
-//				stCiclo=omM1bw1;
-//			}else if(stPulsanti&M2FW){
-//				stBuz=bzmoving;
-//				(void)ramp(M2,FW,mrampstart[M2-1],m2pwmMan,trampman,RAMPINIT);
-//				stCiclo=omM2fw1;
-//			}else if(stPulsanti&M2BW){
-//				stBuz=bzmoving;
-//				(void)ramp(M2,BW,mrampstart[M2-1],m2pwmMan,trampman,RAMPINIT);
-//				stCiclo=omM2bw1;
-//			}else if(stPulsanti&M3FW){
-//				stBuz=bzmoving;
-//				(void)ramp(M3,FW,mrampstart[M3-1],m3pwmMan,trampman,RAMPINIT);
-//				stCiclo=omM3fw1;
-//			}else if(stPulsanti&M3BW){
-//				stBuz=bzmoving;
-//				(void)ramp(M3,BW,mrampstart[M3-1],m3pwmMan,trampman,RAMPINIT);
-//				stCiclo=omM3bw1;
-//			}else if(stPulsanti&M4FW){
-//				stBuz=bzmoving;
-//				(void)ramp(M4,FW,mrampstart[M4-1],m3pwmMan,trampman,RAMPINIT);
-//				stCiclo=omM4fw1;
-//			}else if(stPulsanti&M4BW){
-//				stBuz=bzmoving;
-//				(void)ramp(M4,BW,mrampstart[M4-1],m3pwmMan,trampman,RAMPINIT);
-//				stCiclo=omM4bw1;
-//			}
 			break;
 		case omM1fw1:
 			(void)ramp(M1,FW,mrampstart[M1-1],m1pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m1TimeoutMan)stCiclo=omStopMan;
 			if(pulsanti==0)stCiclo=omM1fw2;
 			break;
 		case omM1fw2:
 			(void)ramp(M1,FW,mrampstart[M1-1],m1pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m1TimeoutMan)stCiclo=omStopMan;
 			if(pulsanti)stCiclo=omStopMan;
 			break;
 		case omM1bw1:
 			(void)ramp(M1,BW,mrampstart[M1-1],m1pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m1TimeoutMan)stCiclo=omStopMan;
 			if(pulsanti==0)stCiclo=omM1bw2;
 			break;
 		case omM1bw2:
 			(void)ramp(M1,BW,mrampstart[M1-1],m1pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m1TimeoutMan)stCiclo=omStopMan;
 			if(pulsanti)stCiclo=omStopMan;
 			break;
 		case omM2fw1:
 			(void)ramp(M2,FW,mrampstart[M2-1],m2pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m2TimeoutMan)stCiclo=omStopMan;
 			if(pulsanti==0)stCiclo=omM2fw2;
 			break;
 		case omM2fw2:
 			(void)ramp(M2,FW,mrampstart[M2-1],m2pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m2TimeoutMan)stCiclo=omStopMan;
 			if(pulsanti)stCiclo=omStopMan;
 			break;
 		case omM2bw1:
 			(void)ramp(M2,BW,mrampstart[M2-1],m2pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m2TimeoutMan)stCiclo=omStopMan;
 			if(pulsanti==0)stCiclo=omM2bw2;
 			break;
 		case omM2bw2:
 			(void)ramp(M2,BW,mrampstart[M2-1],m2pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m2TimeoutMan)stCiclo=omStopMan;
 			if(pulsanti)stCiclo=omStopMan;
 			break;
 		case omM3fw1:
 			(void)ramp(M3,FW,mrampstart[M3-1],m3pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m3TimeoutMan)stCiclo=omStopMan;
 			if(pulsanti==0)stCiclo=omM3fw2;
 			break;
 		case omM3fw2:
 			(void)ramp(M3,FW,mrampstart[M3-1],m3pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m3TimeoutMan)stCiclo=omStopMan;
 			if(pulsanti)stCiclo=omStopMan;
 			break;
 		case omM3bw1:
 			(void)ramp(M3,BW,mrampstart[M3-1],m3pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m3TimeoutMan)stCiclo=omStopMan;
 			if(pulsanti==0)stCiclo=omM3bw2;
 			break;
 		case omM3bw2:
 			(void)ramp(M3,BW,mrampstart[M3-1],m3pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m3TimeoutMan)stCiclo=omStopMan;
 			if(pulsanti)stCiclo=omStopMan;
 			break;
 		case omM4fw1:
 			(void)ramp(M4,FW,mrampstart[M4-1],m4pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m4TimeoutMan)stCiclo=omStopMan;
 			if(pulsanti==0)stCiclo=omM4fw2;
 			break;
 		case omM4fw2:
 			(void)ramp(M4,FW,mrampstart[M4-1],m4pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m4TimeoutMan)stCiclo=omStopMan;
 			if(pulsanti)stCiclo=omStopMan;
 			break;
 		case omM4bw1:
 			(void)ramp(M4,BW,mrampstart[M4-1],m4pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m4TimeoutMan)stCiclo=omStopMan;
 			if(pulsanti==0)stCiclo=omM4bw2;
 			break;
 		case omM4bw2:
 			(void)ramp(M4,BW,mrampstart[M4-1],m4pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m4TimeoutMan)stCiclo=omStopMan;
 			if(pulsanti)stCiclo=omStopMan;
 			break;
 		case omStopMan:
@@ -360,108 +350,12 @@ void manageCiclo(void){
 			}
 			break;
 		case omapertura0:
-			if(rtCiclo==0){
+			if(rtCiclo>=30){//doppo 3 secondi
 				stBuz=bzmoving;
-				(void)ramp(M2,BW,mrampstart[M2-1],m2pwmap,tramp,RAMPINIT);
-				stCiclo=omapertura1;
-			}
-			break;
-		case omapertura1:
-			if(ramp(M2,BW,mrampstart[M2-1],m2pwmap,tramp,RAMPRUN)==DONE){
-				rtCiclo=t1ap;
-				stCiclo=omapertura2;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
-			break;
-		case omapertura2:
-			if(rtCiclo==0){
-				(void)ramp(M2,BW,m2pwmap,0,tramp,RAMPINIT);
-				stCiclo=omapertura3;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
-			break;
-		case omapertura3:
-			if(ramp(M2,BW,m2pwmap,0,tramp,RAMPRUN)==DONE){
-				rtCiclo=twap;
-				stCiclo=omapertura4;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
-			break;
-		case omapertura4:
-			if(rtCiclo==0){
-				(void)ramp(M1,FW,mrampstart[M1-1],m1pwmap,tramp,RAMPINIT);
-				stCiclo=omapertura5;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
-			break;
-		case omapertura5:
-			if(ramp(M1,FW,mrampstart[M1-1],m1pwmap,tramp,RAMPRUN)==DONE){
-				rtCiclo=t2ap;
-				stCiclo=omapertura6;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
-			break;
-		case omapertura6:
-			if(rtCiclo==0){
-				(void)ramp(M3,FW,mrampstart[M3-1],m3pwmap,tramp,RAMPINIT);
-				stCiclo=omapertura7;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
-			break;
-		case omapertura7:
-			if(ramp(M3,FW,mrampstart[M3-1],m3pwmap,tramp,RAMPRUN)==DONE){
-				rtCiclo=t3ap;
-				stCiclo=omapertura8;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
-			break;
-		case omapertura8:
-			if(rtCiclo==0){
-				(void)ramp(M3,FW,m3pwmap,0,tramp,RAMPINIT);
-				(void)ramp(M1,FW,m1pwmap,0,tramp,RAMPINIT);
-				stCiclo=omapertura9;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
-			break;
-		case omapertura9:
-			if((ramp(M3,FW,m3pwmap,0,tramp,RAMPRUN)==DONE)&&(ramp(M1,FW,m1pwmap,0,tramp,RAMPRUN)==DONE)){
-				rtCiclo=twap;
-				stCiclo=omapertura10;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
-			break;
-		case omapertura10:
-			if(rtCiclo==0){
-				(void)ramp(M4,FW,mrampstart[M4-1],m4pwmap,tramp,RAMPINIT);
-				stCiclo=omapertura11;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
-			break;
-		case omapertura11:
-			if(ramp(M4,FW,mrampstart[M4-1],m4pwmap,tramp,RAMPRUN)==DONE){
-				rtCiclo=t4ap;
-				stCiclo=omapertura12;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
-			break;
-		case omapertura12:
-			if(rtCiclo==0){
-				(void)ramp(M4,FW,m4pwmap,0,tramp,RAMPINIT);
-				stCiclo=omapertura13;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
-			break;
-		case omapertura13:
-			if(ramp(M4,FW,m4pwmap,0,tramp,RAMPRUN)==DONE){
-				rtCiclo=twap;
-				stCiclo=omapertura14;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
-			break;
-		case omapertura14:
-			if((rtCiclo==0)&&(pulsanti==0)){
-				stBuz=bzoff;
-				stCiclo=omaperto;
+				if((m1ap()==motStop)&&(m2ap()==motStop)&&(m3ap()==motStop)&&(m4ap()==motStop)){
+					stBuz=bzoff;
+					stCiclo=omaperto;
+				}
 			}
 			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
 			break;
@@ -477,10 +371,12 @@ void manageCiclo(void){
 			}
 			break;
 		case omaperto:
+			rtCiclo=0;
 			if(stPulsanti&P1START){
 				stBuz=bzmoving;
 				(void)ramp(M1,BW,mrampstart[M1-1],m1pwmch,tramp,RAMPINIT);
 				stCiclo=omchiusura1;
+				(void)m1ch();(void)m2ch();(void)m3ch();(void)m4ch();
 			}
 			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
 			else if(stPulsanti&M1FW){
@@ -518,105 +414,15 @@ void manageCiclo(void){
 			}
 			break;
 		case omchiusura1:
-			if(ramp(M1,BW,mrampstart[M1-1],m1pwmch,tramp,RAMPRUN)==DONE){
-				rtCiclo=t4ch;
-				stCiclo=omchiusura2;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
-			break;
-		case omchiusura2:
-			if(rtCiclo==0){
-				(void)ramp(M3,BW,mrampstart[M3-1],m3pwmch,tramp,RAMPINIT);
-				stCiclo=omchiusura3;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
-			break;
-		case omchiusura3:
-			if(ramp(M3,BW,mrampstart[M3-1],m3pwmch,tramp,RAMPRUN)==DONE){
-				rtCiclo=t1ch;
-				stCiclo=omchiusura4;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
-			break;
-		case omchiusura4:
-			if(rtCiclo==0){
-				(void)ramp(M3,BW,m3pwmch,0,tramp,RAMPINIT);
-				(void)ramp(M1,BW,m1pwmch,0,tramp,RAMPINIT);
-				stCiclo=omchiusura5;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
-			break;
-		case omchiusura5:
-			if((ramp(M3,BW,m3pwmch,0,tramp,RAMPRUN)==DONE)&&(ramp(M1,BW,m1pwmch,0,tramp,RAMPRUN)==DONE)){
-				rtCiclo=twch;
-				stCiclo=omchiusura6;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
-			break;
-		case omchiusura6:
-			if(rtCiclo==0){
-				(void)ramp(M2,FW,mrampstart[M2-1],m2pwmch,tramp,RAMPINIT);
-				(void)ramp(M4,BW,mrampstart[M4-1],m4pwmch,tramp,RAMPINIT);
-				stCiclo=omchiusura7;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
-			break;
-		case omchiusura7:
-			if((ramp(M2,FW,mrampstart[M2-1],m2pwmch,tramp,RAMPRUN)==DONE)&&(ramp(M4,BW,mrampstart[M4-1],m4pwmch,tramp,RAMPRUN)==DONE)){
-				rtCiclo=t3ch;
-				stCiclo=omchiusura8;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
-			break;
-		case omchiusura8:
-			if(rtCiclo==0){
-				(void)ramp(M2,FW,m2pwmch,0,tramp,RAMPINIT);
-				stCiclo=omchiusura9;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
-			break;
-		case omchiusura9:
-			if(ramp(M2,FW,m2pwmch,0,tramp,RAMPRUN)==DONE){
-				rtCiclo=t2ch;
-				stCiclo=omchiusura10;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
-			break;
-		case omchiusura10:
-			if(rtCiclo==0){
-				(void)ramp(M4,BW,m4pwmch,0,tramp,RAMPINIT);
-				stCiclo=omchiusura11;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
-			break;
-		case omchiusura11:
-			if(ramp(M4,BW,m4pwmch,0,tramp,RAMPRUN)==DONE){
-				rtCiclo=twch;
-				stCiclo=omchiusura14;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
-			break;
-		case omchiusura12:
-			if(rtCiclo==0){
-				//(void)ramp(M4,BW,m4pwmch,0,tramp,RAMPINIT);
-				stCiclo=omchiusura14;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
-			break;
-		case omchiusura13:
-			if(ramp(M4,BW,m4pwmch,0,tramp,RAMPRUN)==DONE){
-				rtCiclo=twch;
-				stCiclo=omchiusura14;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
-			break;
-		case omchiusura14:
-			if((rtCiclo==0)&&(pulsanti==0)){
-				stBuz=bzoff;
-				stCiclo=omchiuso;
+			if(rtCiclo>=10){//doppo 1 secondi
+				if((m1ch()==motStop)&&(m2ch()==motStop)&&(m3ch()==motStop)&&(m4ch()==motStop)){
+					stBuz=bzoff;
+					stCiclo=omchiuso;
+				}
 			}
 			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
 			break;
+
 		case omstopchiusura:
 			SetMotPerc(M1,FW,0);
 			SetMotPerc(M2,FW,0);
--- a/workspace/AUTOM10/Core/Src/mot.c
+++ b/workspace/AUTOM10/Core/Src/mot.c
@@ -0,0 +1,333 @@
+/*
+ * mot.c
+ *
+ *  Created on: May 2, 2026
+ *      Author: user
+ */
+#include "main.h"
+#include "mot.h"
+#include "pwm.h"
+
+extern uint16_t apM1start;
+extern uint16_t apM1stop;
+extern uint16_t apM2start;
+extern uint16_t apM2stop;
+extern uint16_t apM3start;
+extern uint16_t apM3stop;
+extern uint16_t apM4start;
+extern uint16_t apM4stop;
+extern uint16_t chM1start;
+extern uint16_t chM1stop;
+extern uint16_t chM2start;
+extern uint16_t chM2stop;
+extern uint16_t chM3start;
+extern uint16_t chM3stop;
+extern uint16_t chM4start;
+extern uint16_t chM4stop;
+extern volatile uint16_t rtCiclo;
+extern uint16_t m1pwmap;
+extern uint16_t m1pwmch;
+extern uint16_t m2pwmap;
+extern uint16_t m2pwmch;
+extern uint16_t m3pwmap;
+extern uint16_t m3pwmch;
+extern uint16_t m4pwmap;
+extern uint16_t m4pwmch;
+extern uint16_t mrampstart[4];
+extern uint16_t tramp;
+
+motMov_st m1ap(void){
+	static motMov_st m1st;
+	if(rtCiclo<apM1start)m1st=motWaiting;
+	switch(m1st){
+		case motWaiting:
+			SetMotPerc(M1,FW,0);
+			SetMotPerc(M1,BW,0);
+			if(rtCiclo>=apM1start){
+				(void)ramp(M1,BW,mrampstart[M1-1],m1pwmap,tramp,RAMPINIT);
+				m1st=motStartRamp;
+			}
+			break;
+		case motStartRamp:
+			if(ramp(M1,BW,mrampstart[M1-1],m1pwmap,tramp,RAMPRUN)==DONE){
+				m1st=motWaitingTime;
+			}
+			break;
+		case motWaitingTime:
+			if(rtCiclo>=apM1stop){
+				(void)ramp(M1,BW,m1pwmap,0,tramp,RAMPINIT);
+				m1st=motStopRamp;
+			}
+			break;
+		case motStopRamp:
+			if(ramp(M1,BW,m1pwmap,0,tramp,RAMPRUN)==DONE){
+				m1st=motStop;
+			}
+			break;
+		case motStop:
+		default:
+			SetMotPerc(M1,FW,0);
+			SetMotPerc(M1,BW,0);
+		break;
+	}
+	return m1st;
+}
+
+motMov_st m2ap(void){
+	static motMov_st m2st;
+	if(rtCiclo<apM2start)m2st=motWaiting;
+	switch(m2st){
+		case motWaiting:
+			SetMotPerc(M2,FW,0);
+			SetMotPerc(M2,BW,0);
+			if(rtCiclo>=apM2start){
+				(void)ramp(M2,BW,mrampstart[M2-1],m2pwmap,tramp,RAMPINIT);
+				m2st=motStartRamp;
+			}
+			break;
+		case motStartRamp:
+			if(ramp(M2,BW,mrampstart[M2-1],m2pwmap,tramp,RAMPRUN)==DONE){
+				m2st=motWaitingTime;
+			}
+			break;
+		case motWaitingTime:
+			if(rtCiclo>=apM2stop){
+				(void)ramp(M2,BW,m2pwmap,0,tramp,RAMPINIT);
+				m2st=motStopRamp;
+			}
+			break;
+		case motStopRamp:
+			if(ramp(M2,BW,m2pwmap,0,tramp,RAMPRUN)==DONE){
+				m2st=motStop;
+			}
+			break;
+		case motStop:
+		default:
+			SetMotPerc(M2,FW,0);
+			SetMotPerc(M2,BW,0);
+		break;
+	}
+	return m2st;
+}
+
+motMov_st m3ap(void){
+	static motMov_st m3st;
+	if(rtCiclo<apM3start)m3st=motWaiting;
+	switch(m3st){
+		case motWaiting:
+			SetMotPerc(M3,FW,0);
+			SetMotPerc(M3,BW,0);
+			if(rtCiclo>=apM3start){
+				(void)ramp(M3,BW,mrampstart[M3-1],m2pwmap,tramp,RAMPINIT);
+				m3st=motStartRamp;
+			}
+			break;
+		case motStartRamp:
+			if(ramp(M3,BW,mrampstart[M3-1],m3pwmap,tramp,RAMPRUN)==DONE){
+				m3st=motWaitingTime;
+			}
+			break;
+		case motWaitingTime:
+			if(rtCiclo>=apM3stop){
+				(void)ramp(M3,BW,m3pwmap,0,tramp,RAMPINIT);
+				m3st=motStopRamp;
+			}
+			break;
+		case motStopRamp:
+			if(ramp(M3,BW,m3pwmap,0,tramp,RAMPRUN)==DONE){
+				m3st=motStop;
+			}
+			break;
+		case motStop:
+		default:
+			SetMotPerc(M3,FW,0);
+			SetMotPerc(M3,BW,0);
+		break;
+	}
+	return m3st;
+}
+
+motMov_st m4ap(void){
+	static motMov_st m4st;
+	if(rtCiclo<apM4start)m4st=motWaiting;
+	switch(m4st){
+		case motWaiting:
+			SetMotPerc(M4,FW,0);
+			SetMotPerc(M4,BW,0);
+			if(rtCiclo>=apM4start){
+				(void)ramp(M4,BW,mrampstart[M4-1],m2pwmap,tramp,RAMPINIT);
+				m4st=motStartRamp;
+			}
+			break;
+		case motStartRamp:
+			if(ramp(M4,BW,mrampstart[M4-1],m4pwmap,tramp,RAMPRUN)==DONE){
+				m4st=motWaitingTime;
+			}
+			break;
+		case motWaitingTime:
+			if(rtCiclo>=apM4stop){
+				(void)ramp(M4,BW,m4pwmap,0,tramp,RAMPINIT);
+				m4st=motStopRamp;
+			}
+			break;
+		case motStopRamp:
+			if(ramp(43,BW,m4pwmap,0,tramp,RAMPRUN)==DONE){
+				m4st=motStop;
+			}
+			break;
+		case motStop:
+		default:
+			SetMotPerc(M4,FW,0);
+			SetMotPerc(M4,BW,0);
+		break;
+	}
+	return m4st;
+}
+
+motMov_st m1ch(void){
+	static motMov_st m1st;
+	if(rtCiclo<chM1start)m1st=motWaiting;
+	switch(m1st){
+		case motWaiting:
+			SetMotPerc(M1,FW,0);
+			SetMotPerc(M1,BW,0);
+			if(rtCiclo>=chM1start){
+				(void)ramp(M1,FW,mrampstart[M1-1],m1pwmch,tramp,RAMPINIT);
+				m1st=motStartRamp;
+			}
+			break;
+		case motStartRamp:
+			if(ramp(M1,FW,mrampstart[M1-1],m1pwmch,tramp,RAMPRUN)==DONE){
+				m1st=motWaitingTime;
+			}
+			break;
+		case motWaitingTime:
+			if(rtCiclo>=chM1stop){
+				(void)ramp(M1,FW,m1pwmch,0,tramp,RAMPINIT);
+				m1st=motStopRamp;
+			}
+			break;
+		case motStopRamp:
+			if(ramp(M1,FW,m1pwmch,0,tramp,RAMPRUN)==DONE){
+				m1st=motStop;
+			}
+			break;
+		case motStop:
+		default:
+			SetMotPerc(M1,FW,0);
+			SetMotPerc(M1,BW,0);
+		break;
+	}
+	return m1st;
+}
+
+motMov_st m2ch(void){
+	static motMov_st m2st;
+	if(rtCiclo<chM2start)m2st=motWaiting;
+	switch(m2st){
+		case motWaiting:
+			SetMotPerc(M2,FW,0);
+			SetMotPerc(M2,BW,0);
+			if(rtCiclo>=chM2start){
+				(void)ramp(M2,FW,mrampstart[M2-1],m2pwmch,tramp,RAMPINIT);
+				m2st=motStartRamp;
+			}
+			break;
+		case motStartRamp:
+			if(ramp(M2,FW,mrampstart[M2-1],m2pwmch,tramp,RAMPRUN)==DONE){
+				m2st=motWaitingTime;
+			}
+			break;
+		case motWaitingTime:
+			if(rtCiclo>=chM2stop){
+				(void)ramp(M2,FW,m2pwmch,0,tramp,RAMPINIT);
+				m2st=motStopRamp;
+			}
+			break;
+		case motStopRamp:
+			if(ramp(M2,FW,m2pwmch,0,tramp,RAMPRUN)==DONE){
+				m2st=motStop;
+			}
+			break;
+		case motStop:
+		default:
+			SetMotPerc(M2,FW,0);
+			SetMotPerc(M2,BW,0);
+		break;
+	}
+	return m2st;
+}
+
+motMov_st m3ch(void){
+	static motMov_st m3st;
+	if(rtCiclo<chM3start)m3st=motWaiting;
+	switch(m3st){
+		case motWaiting:
+			SetMotPerc(M3,FW,0);
+			SetMotPerc(M3,BW,0);
+			if(rtCiclo>=chM3start){
+				(void)ramp(M3,FW,mrampstart[M3-1],m2pwmch,tramp,RAMPINIT);
+				m3st=motStartRamp;
+			}
+			break;
+		case motStartRamp:
+			if(ramp(M3,FW,mrampstart[M3-1],m3pwmch,tramp,RAMPRUN)==DONE){
+				m3st=motWaitingTime;
+			}
+			break;
+		case motWaitingTime:
+			if(rtCiclo>=chM3stop){
+				(void)ramp(M3,FW,m3pwmch,0,tramp,RAMPINIT);
+				m3st=motStopRamp;
+			}
+			break;
+		case motStopRamp:
+			if(ramp(M3,FW,m3pwmch,0,tramp,RAMPRUN)==DONE){
+				m3st=motStop;
+			}
+			break;
+		case motStop:
+		default:
+			SetMotPerc(M3,FW,0);
+			SetMotPerc(M3,BW,0);
+		break;
+	}
+	return m3st;
+}
+
+motMov_st m4ch(void){
+	static motMov_st m4st;
+	if(rtCiclo<chM4start)m4st=motWaiting;
+	switch(m4st){
+		case motWaiting:
+			SetMotPerc(M4,FW,0);
+			SetMotPerc(M4,BW,0);
+			if(rtCiclo>=chM4start){
+				(void)ramp(M4,FW,mrampstart[M4-1],m2pwmch,tramp,RAMPINIT);
+				m4st=motStartRamp;
+			}
+			break;
+		case motStartRamp:
+			if(ramp(M4,FW,mrampstart[M4-1],m4pwmch,tramp,RAMPRUN)==DONE){
+				m4st=motWaitingTime;
+			}
+			break;
+		case motWaitingTime:
+			if(rtCiclo>=chM4stop){
+				(void)ramp(M4,FW,m4pwmch,0,tramp,RAMPINIT);
+				m4st=motStopRamp;
+			}
+			break;
+		case motStopRamp:
+			if(ramp(43,FW,m4pwmch,0,tramp,RAMPRUN)==DONE){
+				m4st=motStop;
+			}
+			break;
+		case motStop:
+		default:
+			SetMotPerc(M4,FW,0);
+			SetMotPerc(M4,BW,0);
+		break;
+	}
+	return m4st;
+}
--- a/workspace/AUTOM10/Core/Src/mot.h
+++ b/workspace/AUTOM10/Core/Src/mot.h
@@ -0,0 +1,27 @@
+/*
+ * mot.h
+ *
+ *  Created on: May 2, 2026
+ *      Author: user
+ */
+
+#ifndef SRC_MOT_H_
+#define SRC_MOT_H_
+typedef enum{
+	motWaiting,
+	motStartRamp,
+	motWaitingTime,
+	motStopRamp,
+	motStop
+}motMov_st;
+
+motMov_st m1ap(void);
+motMov_st m1ch(void);
+motMov_st m2ap(void);
+motMov_st m2ch(void);
+motMov_st m3ap(void);
+motMov_st m3ch(void);
+motMov_st m4ap(void);
+motMov_st m4ch(void);
+
+#endif /* SRC_MOT_H_ */
--- a/workspace/AUTOM10/Debug/AUTOM10.elf
+++ b/workspace/AUTOM10/Debug/AUTOM10.elf
--- a/workspace/AUTOM10/Debug/AUTOM10.list
+++ b/workspace/AUTOM10/Debug/AUTOM10.list
--- a/workspace/AUTOM10/Debug/AUTOM10.map
+++ b/workspace/AUTOM10/Debug/AUTOM10.map
--- a/workspace/AUTOM10/Debug/Core/Src/cdc_int.cyclo
+++ b/workspace/AUTOM10/Debug/Core/Src/cdc_int.cyclo
@@ -1,4 +1,4 @@
-../Core/Src/eeprom.h:110:24:EEW_Read	1
-../Core/Src/eeprom.h:115:24:EEW_Write	1
+../Core/Src/eeprom.h:121:24:EEW_Read	1
+../Core/Src/eeprom.h:126:24:EEW_Write	1
 ../Core/Src/cdc_int.c:27:6:toHex	17
 ../Core/Src/cdc_int.c:63:6:manageCDC	71
--- a/workspace/AUTOM10/Debug/Core/Src/cdc_int.o
+++ b/workspace/AUTOM10/Debug/Core/Src/cdc_int.o
--- a/workspace/AUTOM10/Debug/Core/Src/cdc_int.su
+++ b/workspace/AUTOM10/Debug/Core/Src/cdc_int.su
@@ -1,4 +1,4 @@
-../Core/Src/eeprom.h:110:24:EEW_Read	16	static
-../Core/Src/eeprom.h:115:24:EEW_Write	16	static
+../Core/Src/eeprom.h:121:24:EEW_Read	16	static
+../Core/Src/eeprom.h:126:24:EEW_Write	16	static
 ../Core/Src/cdc_int.c:27:6:toHex	16	static
 ../Core/Src/cdc_int.c:63:6:manageCDC	184	static
--- a/workspace/AUTOM10/Debug/Core/Src/debug.o
+++ b/workspace/AUTOM10/Debug/Core/Src/debug.o
--- a/workspace/AUTOM10/Debug/Core/Src/eeprom.cyclo
+++ b/workspace/AUTOM10/Debug/Core/Src/eeprom.cyclo
@@ -1,13 +1,13 @@
-../Core/Src/eeprom.h:110:24:EEW_Read	1
-../Core/Src/eeprom.c:140:17:EE_GetPageStatus	1
-../Core/Src/eeprom.c:145:26:EE_FlashProgramHalfWord	1
-../Core/Src/eeprom.c:156:26:EE_FlashErasePage	1
-../Core/Src/eeprom.c:175:17:EE_FindFreeAddress	3
-../Core/Src/eeprom.c:197:18:EE_FindInPage	6
-../Core/Src/eeprom.c:237:18:EE_Format	4
-../Core/Src/eeprom.c:255:17:EE_GetOtherPageBase	2
-../Core/Src/eeprom.c:261:18:EE_PageTransfer	11
-../Core/Src/eeprom.c:334:10:EE_Init	7
-../Core/Src/eeprom.c:365:10:EE_ReadVariable	2
-../Core/Src/eeprom.c:382:10:EE_WriteVariable	4
-../Core/Src/eeprom.c:405:6:loadEE	1
+../Core/Src/eeprom.h:121:24:EEW_Read	1
+../Core/Src/eeprom.c:160:17:EE_GetPageStatus	1
+../Core/Src/eeprom.c:165:26:EE_FlashProgramHalfWord	1
+../Core/Src/eeprom.c:176:26:EE_FlashErasePage	1
+../Core/Src/eeprom.c:195:17:EE_FindFreeAddress	3
+../Core/Src/eeprom.c:217:18:EE_FindInPage	6
+../Core/Src/eeprom.c:257:18:EE_Format	4
+../Core/Src/eeprom.c:275:17:EE_GetOtherPageBase	2
+../Core/Src/eeprom.c:281:18:EE_PageTransfer	11
+../Core/Src/eeprom.c:354:10:EE_Init	7
+../Core/Src/eeprom.c:385:10:EE_ReadVariable	2
+../Core/Src/eeprom.c:402:10:EE_WriteVariable	4
+../Core/Src/eeprom.c:425:6:loadEE	1
--- a/workspace/AUTOM10/Debug/Core/Src/eeprom.o
+++ b/workspace/AUTOM10/Debug/Core/Src/eeprom.o
--- a/workspace/AUTOM10/Debug/Core/Src/eeprom.su
+++ b/workspace/AUTOM10/Debug/Core/Src/eeprom.su
@@ -1,13 +1,13 @@
-../Core/Src/eeprom.h:110:24:EEW_Read	16	static
-../Core/Src/eeprom.c:140:17:EE_GetPageStatus	16	static
-../Core/Src/eeprom.c:145:26:EE_FlashProgramHalfWord	32	static
-../Core/Src/eeprom.c:156:26:EE_FlashErasePage	40	static
-../Core/Src/eeprom.c:175:17:EE_FindFreeAddress	32	static
-../Core/Src/eeprom.c:197:18:EE_FindInPage	40	static
-../Core/Src/eeprom.c:237:18:EE_Format	8	static
-../Core/Src/eeprom.c:255:17:EE_GetOtherPageBase	16	static
-../Core/Src/eeprom.c:261:18:EE_PageTransfer	40	static
-../Core/Src/eeprom.c:334:10:EE_Init	16	static
-../Core/Src/eeprom.c:365:10:EE_ReadVariable	24	static
-../Core/Src/eeprom.c:382:10:EE_WriteVariable	24	static
-../Core/Src/eeprom.c:405:6:loadEE	8	static
+../Core/Src/eeprom.h:121:24:EEW_Read	16	static
+../Core/Src/eeprom.c:160:17:EE_GetPageStatus	16	static
+../Core/Src/eeprom.c:165:26:EE_FlashProgramHalfWord	32	static
+../Core/Src/eeprom.c:176:26:EE_FlashErasePage	40	static
+../Core/Src/eeprom.c:195:17:EE_FindFreeAddress	32	static
+../Core/Src/eeprom.c:217:18:EE_FindInPage	40	static
+../Core/Src/eeprom.c:257:18:EE_Format	8	static
+../Core/Src/eeprom.c:275:17:EE_GetOtherPageBase	16	static
+../Core/Src/eeprom.c:281:18:EE_PageTransfer	40	static
+../Core/Src/eeprom.c:354:10:EE_Init	16	static
+../Core/Src/eeprom.c:385:10:EE_ReadVariable	24	static
+../Core/Src/eeprom.c:402:10:EE_WriteVariable	24	static
+../Core/Src/eeprom.c:425:6:loadEE	248	static
--- a/workspace/AUTOM10/Debug/Core/Src/main.cyclo
+++ b/workspace/AUTOM10/Debug/Core/Src/main.cyclo
@@ -1,12 +1,12 @@
-../Core/Src/main.c:141:6:HAL_SYSTICK_Callback	20
-../Core/Src/main.c:191:6:managePulsanti	23
-../Core/Src/main.c:241:6:manageCiclo	144
-../Core/Src/main.c:640:5:main	2
-../Core/Src/main.c:724:6:SystemClock_Config	4
-../Core/Src/main.c:772:13:MX_ADC1_Init	7
-../Core/Src/main.c:855:13:MX_TIM2_Init	9
-../Core/Src/main.c:931:13:MX_TIM4_Init	9
-../Core/Src/main.c:1005:13:MX_USART1_UART_Init	2
-../Core/Src/main.c:1036:13:MX_DMA_Init	1
-../Core/Src/main.c:1054:13:MX_GPIO_Init	1
-../Core/Src/main.c:1130:6:Error_Handler	1
+../Core/Src/main.c:146:6:HAL_SYSTICK_Callback	20
+../Core/Src/main.c:197:6:managePulsanti	23
+../Core/Src/main.c:247:6:manageCiclo	83
+../Core/Src/main.c:446:5:main	2
+../Core/Src/main.c:530:6:SystemClock_Config	4
+../Core/Src/main.c:578:13:MX_ADC1_Init	7
+../Core/Src/main.c:661:13:MX_TIM2_Init	9
+../Core/Src/main.c:737:13:MX_TIM4_Init	9
+../Core/Src/main.c:811:13:MX_USART1_UART_Init	2
+../Core/Src/main.c:842:13:MX_DMA_Init	1
+../Core/Src/main.c:860:13:MX_GPIO_Init	1
+../Core/Src/main.c:936:6:Error_Handler	1
--- a/workspace/AUTOM10/Debug/Core/Src/main.d
+++ b/workspace/AUTOM10/Debug/Core/Src/main.d
@@ -39,7 +39,7 @@ Core/Src/main.o: ../Core/Src/main.c ../Core/Inc/main.h \
 ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc/usbd_ioreq.h \
 ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc/usbd_ctlreq.h \
 ../Core/Inc/cdc_int.h ../Core/Src/eeprom.h ../Core/Inc/pwm.h \
- ../Core/Inc/adc.h ../Core/Src/debug.h
+ ../Core/Inc/adc.h ../Core/Src/debug.h ../Core/Src/mot.h
 ../Core/Inc/main.h:
 ../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal.h:
 ../Core/Inc/stm32f1xx_hal_conf.h:
@@ -86,3 +86,4 @@ Core/Src/main.o: ../Core/Src/main.c ../Core/Inc/main.h \
 ../Core/Inc/pwm.h:
 ../Core/Inc/adc.h:
 ../Core/Src/debug.h:
+../Core/Src/mot.h:
--- a/workspace/AUTOM10/Debug/Core/Src/main.o
+++ b/workspace/AUTOM10/Debug/Core/Src/main.o
--- a/workspace/AUTOM10/Debug/Core/Src/main.su
+++ b/workspace/AUTOM10/Debug/Core/Src/main.su
@@ -1,12 +1,12 @@
-../Core/Src/main.c:141:6:HAL_SYSTICK_Callback	16	static
-../Core/Src/main.c:191:6:managePulsanti	4	static
-../Core/Src/main.c:241:6:manageCiclo	16	static
-../Core/Src/main.c:640:5:main	8	static
-../Core/Src/main.c:724:6:SystemClock_Config	88	static
-../Core/Src/main.c:772:13:MX_ADC1_Init	24	static
-../Core/Src/main.c:855:13:MX_TIM2_Init	64	static
-../Core/Src/main.c:931:13:MX_TIM4_Init	64	static
-../Core/Src/main.c:1005:13:MX_USART1_UART_Init	8	static
-../Core/Src/main.c:1036:13:MX_DMA_Init	16	static
-../Core/Src/main.c:1054:13:MX_GPIO_Init	40	static
-../Core/Src/main.c:1130:6:Error_Handler	4	static,ignoring_inline_asm
+../Core/Src/main.c:146:6:HAL_SYSTICK_Callback	16	static
+../Core/Src/main.c:197:6:managePulsanti	4	static
+../Core/Src/main.c:247:6:manageCiclo	16	static
+../Core/Src/main.c:446:5:main	8	static
+../Core/Src/main.c:530:6:SystemClock_Config	88	static
+../Core/Src/main.c:578:13:MX_ADC1_Init	24	static
+../Core/Src/main.c:661:13:MX_TIM2_Init	64	static
+../Core/Src/main.c:737:13:MX_TIM4_Init	64	static
+../Core/Src/main.c:811:13:MX_USART1_UART_Init	8	static
+../Core/Src/main.c:842:13:MX_DMA_Init	16	static
+../Core/Src/main.c:860:13:MX_GPIO_Init	40	static
+../Core/Src/main.c:936:6:Error_Handler	4	static,ignoring_inline_asm
--- a/workspace/AUTOM10/Debug/Core/Src/mot.cyclo
+++ b/workspace/AUTOM10/Debug/Core/Src/mot.cyclo
@@ -0,0 +1,8 @@
+../Core/Src/mot.c:39:11:m1ap	10
+../Core/Src/mot.c:76:11:m2ap	10
+../Core/Src/mot.c:113:11:m3ap	10
+../Core/Src/mot.c:150:11:m4ap	10
+../Core/Src/mot.c:187:11:m1ch	10
+../Core/Src/mot.c:224:11:m2ch	10
+../Core/Src/mot.c:261:11:m3ch	10
+../Core/Src/mot.c:298:11:m4ch	10
--- a/workspace/AUTOM10/Debug/Core/Src/mot.d
+++ b/workspace/AUTOM10/Debug/Core/Src/mot.d
@@ -0,0 +1,65 @@
+Core/Src/mot.o: ../Core/Src/mot.c ../Core/Inc/main.h \
+ ../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal.h \
+ ../Core/Inc/stm32f1xx_hal_conf.h \
+ ../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_rcc.h \
+ ../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_def.h \
+ ../Drivers/CMSIS/Device/ST/STM32F1xx/Include/stm32f1xx.h \
+ ../Drivers/CMSIS/Device/ST/STM32F1xx/Include/stm32f103xb.h \
+ ../Drivers/CMSIS/Include/core_cm3.h \
+ ../Drivers/CMSIS/Include/cmsis_version.h \
+ ../Drivers/CMSIS/Include/cmsis_compiler.h \
+ ../Drivers/CMSIS/Include/cmsis_gcc.h \
+ ../Drivers/CMSIS/Device/ST/STM32F1xx/Include/system_stm32f1xx.h \
+ ../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h \
+ ../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_rcc_ex.h \
+ ../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_gpio.h \
+ ../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_gpio_ex.h \
+ ../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_exti.h \
+ ../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_dma.h \
+ ../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_dma_ex.h \
+ ../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_cortex.h \
+ ../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_adc.h \
+ ../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_adc_ex.h \
+ ../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_flash.h \
+ ../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_flash_ex.h \
+ ../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_pwr.h \
+ ../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_tim.h \
+ ../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_tim_ex.h \
+ ../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_uart.h \
+ ../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_pcd.h \
+ ../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_ll_usb.h \
+ ../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_pcd_ex.h \
+ ../Core/Src/mot.h ../Core/Inc/pwm.h
+../Core/Inc/main.h:
+../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal.h:
+../Core/Inc/stm32f1xx_hal_conf.h:
+../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_rcc.h:
+../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_def.h:
+../Drivers/CMSIS/Device/ST/STM32F1xx/Include/stm32f1xx.h:
+../Drivers/CMSIS/Device/ST/STM32F1xx/Include/stm32f103xb.h:
+../Drivers/CMSIS/Include/core_cm3.h:
+../Drivers/CMSIS/Include/cmsis_version.h:
+../Drivers/CMSIS/Include/cmsis_compiler.h:
+../Drivers/CMSIS/Include/cmsis_gcc.h:
+../Drivers/CMSIS/Device/ST/STM32F1xx/Include/system_stm32f1xx.h:
+../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h:
+../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_rcc_ex.h:
+../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_gpio.h:
+../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_gpio_ex.h:
+../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_exti.h:
+../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_dma.h:
+../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_dma_ex.h:
+../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_cortex.h:
+../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_adc.h:
+../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_adc_ex.h:
+../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_flash.h:
+../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_flash_ex.h:
+../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_pwr.h:
+../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_tim.h:
+../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_tim_ex.h:
+../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_uart.h:
+../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_pcd.h:
+../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_ll_usb.h:
+../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_pcd_ex.h:
+../Core/Src/mot.h:
+../Core/Inc/pwm.h:
--- a/workspace/AUTOM10/Debug/Core/Src/mot.o
+++ b/workspace/AUTOM10/Debug/Core/Src/mot.o
--- a/workspace/AUTOM10/Debug/Core/Src/mot.su
+++ b/workspace/AUTOM10/Debug/Core/Src/mot.su
@@ -0,0 +1,8 @@
+../Core/Src/mot.c:39:11:m1ap	16	static
+../Core/Src/mot.c:76:11:m2ap	16	static
+../Core/Src/mot.c:113:11:m3ap	16	static
+../Core/Src/mot.c:150:11:m4ap	16	static
+../Core/Src/mot.c:187:11:m1ch	16	static
+../Core/Src/mot.c:224:11:m2ch	16	static
+../Core/Src/mot.c:261:11:m3ch	16	static
+../Core/Src/mot.c:298:11:m4ch	16	static
--- a/workspace/AUTOM10/Debug/Core/Src/pwm.o
+++ b/workspace/AUTOM10/Debug/Core/Src/pwm.o
--- a/workspace/AUTOM10/Debug/Core/Src/stm32f1xx_hal_msp.o
+++ b/workspace/AUTOM10/Debug/Core/Src/stm32f1xx_hal_msp.o
--- a/workspace/AUTOM10/Debug/Core/Src/stm32f1xx_it.o
+++ b/workspace/AUTOM10/Debug/Core/Src/stm32f1xx_it.o
--- a/workspace/AUTOM10/Debug/Core/Src/subdir.mk
+++ b/workspace/AUTOM10/Debug/Core/Src/subdir.mk
@@ -10,6 +10,7 @@ C_SRCS += \
 ../Core/Src/debug.c \
 ../Core/Src/eeprom.c \
 ../Core/Src/main.c \
+../Core/Src/mot.c \
 ../Core/Src/pwm.c \
 ../Core/Src/stm32f1xx_hal_msp.c \
 ../Core/Src/stm32f1xx_it.c \
@@ -23,6 +24,7 @@ OBJS += \
 ./Core/Src/debug.o \
 ./Core/Src/eeprom.o \
 ./Core/Src/main.o \
+./Core/Src/mot.o \
 ./Core/Src/pwm.o \
 ./Core/Src/stm32f1xx_hal_msp.o \
 ./Core/Src/stm32f1xx_it.o \
@@ -36,6 +38,7 @@ C_DEPS += \
 ./Core/Src/debug.d \
 ./Core/Src/eeprom.d \
 ./Core/Src/main.d \
+./Core/Src/mot.d \
 ./Core/Src/pwm.d \
 ./Core/Src/stm32f1xx_hal_msp.d \
 ./Core/Src/stm32f1xx_it.d \
@@ -51,7 +54,7 @@ Core/Src/%.o Core/Src/%.su Core/Src/%.cyclo: ../Core/Src/%.c Core/Src/subdir.mk
 clean: clean-Core-2f-Src

 clean-Core-2f-Src:
-	-$(RM) ./Core/Src/adc.cyclo ./Core/Src/adc.d ./Core/Src/adc.o ./Core/Src/adc.su ./Core/Src/cdc_int.cyclo ./Core/Src/cdc_int.d ./Core/Src/cdc_int.o ./Core/Src/cdc_int.su ./Core/Src/debug.cyclo ./Core/Src/debug.d ./Core/Src/debug.o ./Core/Src/debug.su ./Core/Src/eeprom.cyclo ./Core/Src/eeprom.d ./Core/Src/eeprom.o ./Core/Src/eeprom.su ./Core/Src/main.cyclo ./Core/Src/main.d ./Core/Src/main.o ./Core/Src/main.su ./Core/Src/pwm.cyclo ./Core/Src/pwm.d ./Core/Src/pwm.o ./Core/Src/pwm.su ./Core/Src/stm32f1xx_hal_msp.cyclo ./Core/Src/stm32f1xx_hal_msp.d ./Core/Src/stm32f1xx_hal_msp.o ./Core/Src/stm32f1xx_hal_msp.su ./Core/Src/stm32f1xx_it.cyclo ./Core/Src/stm32f1xx_it.d ./Core/Src/stm32f1xx_it.o ./Core/Src/stm32f1xx_it.su ./Core/Src/syscalls.cyclo ./Core/Src/syscalls.d ./Core/Src/syscalls.o ./Core/Src/syscalls.su ./Core/Src/sysmem.cyclo ./Core/Src/sysmem.d ./Core/Src/sysmem.o ./Core/Src/sysmem.su ./Core/Src/system_stm32f1xx.cyclo ./Core/Src/system_stm32f1xx.d ./Core/Src/system_stm32f1xx.o ./Core/Src/system_stm32f1xx.su
+	-$(RM) ./Core/Src/adc.cyclo ./Core/Src/adc.d ./Core/Src/adc.o ./Core/Src/adc.su ./Core/Src/cdc_int.cyclo ./Core/Src/cdc_int.d ./Core/Src/cdc_int.o ./Core/Src/cdc_int.su ./Core/Src/debug.cyclo ./Core/Src/debug.d ./Core/Src/debug.o ./Core/Src/debug.su ./Core/Src/eeprom.cyclo ./Core/Src/eeprom.d ./Core/Src/eeprom.o ./Core/Src/eeprom.su ./Core/Src/main.cyclo ./Core/Src/main.d ./Core/Src/main.o ./Core/Src/main.su ./Core/Src/mot.cyclo ./Core/Src/mot.d ./Core/Src/mot.o ./Core/Src/mot.su ./Core/Src/pwm.cyclo ./Core/Src/pwm.d ./Core/Src/pwm.o ./Core/Src/pwm.su ./Core/Src/stm32f1xx_hal_msp.cyclo ./Core/Src/stm32f1xx_hal_msp.d ./Core/Src/stm32f1xx_hal_msp.o ./Core/Src/stm32f1xx_hal_msp.su ./Core/Src/stm32f1xx_it.cyclo ./Core/Src/stm32f1xx_it.d ./Core/Src/stm32f1xx_it.o ./Core/Src/stm32f1xx_it.su ./Core/Src/syscalls.cyclo ./Core/Src/syscalls.d ./Core/Src/syscalls.o ./Core/Src/syscalls.su ./Core/Src/sysmem.cyclo ./Core/Src/sysmem.d ./Core/Src/sysmem.o ./Core/Src/sysmem.su ./Core/Src/system_stm32f1xx.cyclo ./Core/Src/system_stm32f1xx.d ./Core/Src/system_stm32f1xx.o ./Core/Src/system_stm32f1xx.su

 .PHONY: clean-Core-2f-Src

--- a/workspace/AUTOM10/Debug/Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Src/usbd_cdc.o
+++ b/workspace/AUTOM10/Debug/Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Src/usbd_cdc.o
--- a/workspace/AUTOM10/Debug/Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_core.o
+++ b/workspace/AUTOM10/Debug/Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_core.o
--- a/workspace/AUTOM10/Debug/Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_ctlreq.o
+++ b/workspace/AUTOM10/Debug/Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_ctlreq.o
--- a/workspace/AUTOM10/Debug/Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_ioreq.o
+++ b/workspace/AUTOM10/Debug/Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_ioreq.o
--- a/workspace/AUTOM10/Debug/USB_DEVICE/App/usb_device.o
+++ b/workspace/AUTOM10/Debug/USB_DEVICE/App/usb_device.o
--- a/workspace/AUTOM10/Debug/USB_DEVICE/App/usbd_cdc_if.o
+++ b/workspace/AUTOM10/Debug/USB_DEVICE/App/usbd_cdc_if.o
--- a/workspace/AUTOM10/Debug/USB_DEVICE/App/usbd_desc.o
+++ b/workspace/AUTOM10/Debug/USB_DEVICE/App/usbd_desc.o
--- a/workspace/AUTOM10/Debug/USB_DEVICE/Target/usbd_conf.o
+++ b/workspace/AUTOM10/Debug/USB_DEVICE/Target/usbd_conf.o
--- a/workspace/AUTOM10/Debug/objects.list
+++ b/workspace/AUTOM10/Debug/objects.list
@@ -3,6 +3,7 @@
 "./Core/Src/debug.o"
 "./Core/Src/eeprom.o"
 "./Core/Src/main.o"
+"./Core/Src/mot.o"
 "./Core/Src/pwm.o"
 "./Core/Src/stm32f1xx_hal_msp.o"
 "./Core/Src/stm32f1xx_it.o"