#define KI 0.051429
#define KD 0.000378
#define PID_T 0.01
-#define STEP_PER_M 3376.1 // wheel diameter=12cm, encoder=48cpr, gear ratio=1:34
-#define WHEEL_DIST 0.252
+// wheel diameter=12cm, encoder=48cpr, gear ratio=1:34, real wheel diameter: 0.12454m
+#define STEP_PER_M_AVG 4171.4
+#define STEP_PER_M_LEFT (STEP_PER_M_AVG)
+#define STEP_PER_M_RIGHT (STEP_PER_M_AVG)
+#define WHEEL_DIST 0.36923 // Real: 0.252
enum mode {
MOTOR_MANUAL,
break;
case 0x2B: // Left speed wish LSB
tmp_speed.i = tmp_speed.i << 8 | TWDR;
- speed1_wish = tmp_speed.f*STEP_PER_M;
- speed2_wish = tmp_speed.f*STEP_PER_M;
+ speed1_wish = tmp_speed.f*STEP_PER_M_LEFT;
+ speed2_wish = tmp_speed.f*STEP_PER_M_LEFT;
motor1_mode = MOTOR_PID;
motor2_mode = MOTOR_PID;
TWI_ACK;
break;
case 0x2F: // Right speed wish LSB
tmp_speed.i = tmp_speed.i << 8 | TWDR;
- speed1_wish = tmp_speed.f*STEP_PER_M;
- speed2_wish = tmp_speed.f*STEP_PER_M;
+ speed1_wish = tmp_speed.f*STEP_PER_M_RIGHT;
+ speed2_wish = tmp_speed.f*STEP_PER_M_RIGHT;
motor1_mode = MOTOR_PID;
motor2_mode = MOTOR_PID;
TWI_ACK;
break;
case 0x94: // Front Handicap backward
front_handicap_bwd = TWDR;
+ cmd_vel.bUpdate = 1;
TWI_ACK;
break;
case 0x95: // Aft Handicap forward
aft_handicap_fwd = TWDR;
+ cmd_vel.bUpdate = 1;
TWI_ACK;
break;
case 0xff: // bootloader
new_speed3 = pos3_diff/PID_T;
new_speed4 = pos4_diff/PID_T;
- diff_left_m = (pos1_diff + pos2_diff)/(2*STEP_PER_M);
- diff_right_m = (pos3_diff + pos4_diff)/(2*STEP_PER_M);
+ diff_left_m = (pos1_diff + pos2_diff)/(2*STEP_PER_M_LEFT);
+ diff_right_m = (pos3_diff + pos4_diff)/(2*STEP_PER_M_RIGHT);
angle_diff = (diff_right_m - diff_left_m) / WHEEL_DIST;
angle_new = angle.f + angle_diff;
if (angle_new > 2*M_PI) angle_new-=2*M_PI;
- else if (angle_new < 2*M_PI) angle_new+=2*M_PI;
+ else if (angle_new < -2*M_PI) angle_new+=2*M_PI;
translation = (diff_left_m + diff_right_m)/2.0;
pos_x_new = pos_x.f + cos(angle_new)*translation;
speed_l = (new_speed1+new_speed2)/2;
speed_r = (new_speed3+new_speed4)/2;
- tmp_speed_lin = (speed_l + speed_r)/(2.0*STEP_PER_M);
- tmp_speed_rot = (speed_r - speed_l)/(M_PI*WHEEL_DIST*STEP_PER_M);
+ tmp_speed_lin = (speed_l + speed_r)/(2.0*STEP_PER_M_AVG);
+ tmp_speed_rot = (speed_r - speed_l)/(M_PI*WHEEL_DIST*STEP_PER_M_AVG);
// copy from tmp
cli();
speed_wish_right = angle*M_PI*WHEEL_DIST/2 + speed;
speed_wish_left = speed*2-speed_wish_right;
- speed_wish_left*=STEP_PER_M;
- speed_wish_right*=STEP_PER_M;
+ speed_wish_left*=STEP_PER_M_LEFT;
+ speed_wish_right*=STEP_PER_M_RIGHT;
- if (speed1_wish > 0 && aft_handicap_fwd > 0) {
+ if (speed_wish_left > 0 && aft_handicap_fwd > 0) {
speed1_wish = speed_wish_left * (100-aft_handicap_fwd)/100.0;
} else {
speed1_wish = speed_wish_left;
}
- if (speed2_wish > 0 && front_handicap_bwd > 0) {
+ if (speed_wish_left < 0 && front_handicap_bwd > 0) {
speed2_wish = speed_wish_left * (100-front_handicap_bwd)/100.0;
} else {
speed2_wish = speed_wish_left;
}
- if (speed3_wish > 0 && front_handicap_bwd > 0) {
+ if (speed_wish_right < 0 && front_handicap_bwd > 0) {
speed3_wish = speed_wish_right * (100-front_handicap_bwd)/100.0;
} else {
speed3_wish = speed_wish_right;
}
- if (speed4_wish > 0 && aft_handicap_fwd > 0) {
+ if (speed_wish_right > 0 && aft_handicap_fwd > 0) {
speed4_wish = speed_wish_right * (100-aft_handicap_fwd)/100.0;
} else {
speed4_wish = speed_wish_right;