From 2dbdb0777dda392369a9782812556f712ac1c1e2 Mon Sep 17 00:00:00 2001
From: Erik Andresen <erik@vontaene.de>
Date: Sat, 13 Jun 2015 09:52:01 +0200
Subject: [PATCH] avr/motor_ctrl: handicap: sep forward, backward
---
avr/motor_ctrl/main.c | 40 +-
avr/motor_ctrl/main.hex | 849 ++++++++++++++++++++--------------------
2 files changed, 456 insertions(+), 433 deletions(-)
diff --git a/avr/motor_ctrl/main.c b/avr/motor_ctrl/main.c
index 83022cb..1fd8292 100644
--- a/avr/motor_ctrl/main.c
+++ b/avr/motor_ctrl/main.c
@@ -87,8 +87,8 @@
* 0x91 Motor 2 switch
* 0x92 Motor 3 switch
* 0x93 Motor 4 switch
- * 0x94 Front Handicap
- * 0x95 Aft Handicap
+ * 0x94 Front Handicap backward
+ * 0x95 Aft Handicap forward
* free
* 0xA0 Reset reason
* 0xA1 TLE Error status
@@ -158,8 +158,8 @@ static volatile ufloat_t angle={0.0};
static volatile float cur_speed_lin=0;
static volatile float cur_speed_rot=0;
static volatile uint8_t count_test=0;
-static volatile uint8_t front_handicap=0;
-static volatile uint8_t aft_handicap=0;
+static volatile uint8_t front_handicap_bwd=0;
+static volatile uint8_t aft_handicap_fwd=0;
ISR(TWI_vect)
{
@@ -344,12 +344,12 @@ ISR(TWI_vect)
motor4_switch = TWDR;
TWI_ACK;
break;
- case 0x94: // Front Handicap
- front_handicap = TWDR;
+ case 0x94: // Front Handicap backward
+ front_handicap_bwd = TWDR;
TWI_ACK;
break;
- case 0x95: // Aft Handicap
- aft_handicap = TWDR;
+ case 0x95: // Aft Handicap forward
+ aft_handicap_fwd = TWDR;
TWI_ACK;
break;
case 0xff: // bootloader
@@ -963,10 +963,26 @@ int main(void) {
speed_wish_left*=STEP_PER_M;
speed_wish_right*=STEP_PER_M;
- speed1_wish = speed_wish_left * (100-aft_handicap)/100.0;
- speed2_wish = speed_wish_left * (100-front_handicap)/100.0;
- speed3_wish = speed_wish_right * (100-front_handicap)/100.0;
- speed4_wish = speed_wish_right * (100-aft_handicap)/100.0;
+ if (speed1_wish > 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) {
+ 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) {
+ 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) {
+ speed4_wish = speed_wish_right * (100-aft_handicap_fwd)/100.0;
+ } else {
+ speed4_wish = speed_wish_right;
+ }
motor1_mode = MOTOR_PID;
motor2_mode = MOTOR_PID;
motor3_mode = MOTOR_PID;
diff --git a/avr/motor_ctrl/main.hex b/avr/motor_ctrl/main.hex
index 2a08e6a..621cdcf 100644
--- a/avr/motor_ctrl/main.hex
+++ b/avr/motor_ctrl/main.hex
@@ -7,10 +7,10 @@
:100060000C50B9918688083CA6AAAA2ABE000000B6
:10007000803F45464765666700202B2D2E30313284
:100080003334353637383968000011241FBECFE5C8
-:10009000D8E0DEBFCDBF10E0A0E6B0E0E2EBF6E2D4
+:10009000D8E0DEBFCDBF10E0A0E6B0E0E2E2F7E2DC
:1000A00002C005900D92A837B107D9F721E0A8E763
:1000B000B0E001C01D92A736B207E1F70E94220608
-:1000C0000C9457130C9400001F920F920FB60F92CE
+:1000C0000C948F130C9400001F920F920FB60F9296
:1000D00011242F933F934F935F936F937F938F934D
:1000E0009F93AF93BF93EF93FF9381B1887F803845
:1000F00081F040F4803609F0BFC385EC86BF1092D2
@@ -57,7 +57,7 @@
:100380009091A300A091A400B091A5006627782FBA
:10039000892F9A2F622B6093A2007093A300809301
:1003A000A4009093A5002AE931E043E555E40E94BA
-:1003B0000C100E94EC0E7093CE006093CD007093F1
+:1003B00044100E94240F7093CE006093CD00709380
:1003C000CC006093CB0081E08093D6008093D50071
:1003D00043C283B190E0A0E0B0E0C6CF83B190E02B
:1003E000A0E0B0E00EC023B180919E0090919F00EC
@@ -171,7 +171,7 @@
:100AA0009F918F910F900FBE0F901F9018959C01F2
:100AB0008AB188618AB9579A80B5866080BD40E066
:100AC00050E084E0220F331F441F551F8A95D1F751
-:100AD00060E079E08DE390E00E94B910DA01C9018D
+:100AD00060E079E08DE390E00E94F110DA01C90155
:100AE0000197A109B109892F9A2FAB2FBB27A7FD29
:100AF000BA9580BD215029B986EF90E09093F3001C
:100B00008093F2009093F5008093F40008955D9B2C
@@ -181,7 +181,7 @@
:100B4000CE012196FC012081222319F00E94870505
:100B5000F7CFDF91CF9108955F9BFECF8CB190E0EE
:100B600008950C94AC0561EB75E08DE895E00C946C
-:100B70000511CF93DF93FC01E253FF4FA081B181B8
+:100B70003D11CF93DF93FC01E253FF4FA081B18180
:100B8000EC01C453DF4F28813981A217B307A1F0CC
:100B90005D9B12C02C912CB920813181AC01455351
:100BA0005F4F2417350718F42F5F3F4F03C09C0198
@@ -200,424 +200,431 @@
:100C700080E895E20E9457050E94B30580E582B99D
:100C800086B78B7E86BF85EC86BF81EF8FBD89E0FE
:100C90008EBD1BBC1ABC19BC18BC89E785BD13BC32
-:100CA00083BF1CBE8EE690E00E94821185B78F78CC
+:100CA00083BF1CBE8EE690E00E94BA1185B78F7894
:100CB00085BF84E089BF789474E6272E312C80911B
:100CC000E8008F3F41F48091E700853A21F4F894E1
-:100CD000E0E0F8E109958091F100882309F4C7C0AC
-:100CE000F894C090E900D090EA00E090EB00F0901A
+:100CD000E0E0F8E109958091F100882309F4FFC074
+:100CE000F8948090E9009090EA00A090EB00B0901A
:100CF000EC006091ED007091EE008091EF0090911A
:100D0000F0001092F10078942BED3FE049E450E4BC
-:100D10000E940C1025E236E041E85EE30E940C10D0
-:100D200020E030E040E05FE30E940C10A701960154
-:100D30000E94190E4B015C01A7019601C701B60183
-:100D40000E94190EA50194010E94180E2AE931E0B3
-:100D500043E555E40E940C106B017C012AE931E067
-:100D600043E555E4C501B4010E940C104B015C0140
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