From: Erik Andresen Date: Sat, 13 Jun 2015 09:07:16 +0000 (+0200) Subject: avr/motor_ctrl: handicap fixes X-Git-Url: https://defiant.homedns.org/gitweb/?a=commitdiff_plain;h=bd5ce223f2fe077a697352c44a366a33d1f692f0;p=ros_wild_thumper.git avr/motor_ctrl: handicap fixes --- diff --git a/avr/motor_ctrl/main.c b/avr/motor_ctrl/main.c index 1fd8292..bd9fc9e 100644 --- a/avr/motor_ctrl/main.c +++ b/avr/motor_ctrl/main.c @@ -346,10 +346,12 @@ ISR(TWI_vect) 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 @@ -963,22 +965,22 @@ int main(void) { speed_wish_left*=STEP_PER_M; speed_wish_right*=STEP_PER_M; - 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; diff --git a/avr/motor_ctrl/main.hex b/avr/motor_ctrl/main.hex index 621cdcf..ed98346 100644 --- a/avr/motor_ctrl/main.hex +++ b/avr/motor_ctrl/main.hex @@ -7,15 +7,15 @@ :100060000C50B9918688083CA6AAAA2ABE000000B6 :10007000803F45464765666700202B2D2E30313284 :100080003334353637383968000011241FBECFE5C8 -:10009000D8E0DEBFCDBF10E0A0E6B0E0E2E2F7E2DC 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