STM32-L298N-MotorControl&UART

void updateMotors(void)
{
    // Speed
    __HAL_TIM_SET_COMPARE(&htim3, TIM_CHANNEL_1, (uint32_t)(abs(speedA) * TIM_PERIOD / 255));
    __HAL_TIM_SET_COMPARE(&htim3, TIM_CHANNEL_3, (uint32_t)(abs(speedB) * TIM_PERIOD / 255));

    // Direction
    HAL_GPIO_WritePin(GPIOB, DIR_A_PIN, (speedA > 0) ? GPIO_PIN_SET : GPIO_PIN_RESET);
    HAL_GPIO_WritePin(GPIOB, DIR_B_PIN, (speedB > 0) ? GPIO_PIN_SET : GPIO_PIN_RESET);

    // Brake On/Off
    HAL_GPIO_WritePin(GPIOA, BRAKE_A_PIN, (speedA == 0) ? GPIO_PIN_SET : GPIO_PIN_RESET);
    HAL_GPIO_WritePin(GPIOA, BRAKE_B_PIN, (speedB == 0) ? GPIO_PIN_SET : GPIO_PIN_RESET);
}

void printSpeeds(void)
{
    char buffer[50];
    int len = sprintf(buffer, "Speed A = %d B = %d\r\n", speedA, speedB);
    HAL_UART_Transmit(&huart1, (uint8_t*)buffer, len, HAL_MAX_DELAY);
}

/* 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();

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

    /* Initialize all configured peripherals */
    MX_GPIO_Init();
    MX_TIM3_Init();
    MX_USART1_UART_Init();
    
    /* USER CODE BEGIN 2 */
    // Start PWM.
    HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_3);
    HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_1);
    /* USER CODE END 2 */

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

        /* USER CODE BEGIN 3 */
        int16_t oldSpeedA = speedA;
        int16_t oldSpeedB = speedB;

        checkKeys();
        updateMotors();

        if (speedA != oldSpeedA || speedB != oldSpeedB)
        {
            printSpeeds();
        }

        HAL_Delay(10);  // Small delay to prevent too rapid updates
    }
    /* USER CODE END 3 */
}