From 5bd96ab44a206b5e85d0f70213046d356f39eef2 Mon Sep 17 00:00:00 2001 From: Erik Andresen Date: Fri, 28 Oct 2016 22:38:24 +0200 Subject: [PATCH] motor_ctrl: tune odometry from umbmark --- avr/motor_ctrl/main.c | 12 +- avr/motor_ctrl/main.hex | 1313 ++++++++++++++++++++------------------- config/razor.yaml | 4 +- 3 files changed, 667 insertions(+), 662 deletions(-) diff --git a/avr/motor_ctrl/main.c b/avr/motor_ctrl/main.c index abbf538..805788f 100644 --- a/avr/motor_ctrl/main.c +++ b/avr/motor_ctrl/main.c @@ -105,11 +105,13 @@ #define KI 0.10 #define KD 0.0 #define PID_T 0.01 -// wheel diameter=12cm, encoder=48cpr, gear ratio=1:47, real wheel diameter: 0.12454m -#define STEP_PER_M_AVG 5766.1 -#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 +// wheel diameter=12cm, encoder=48cpr, gear ratio=1:47 +// STEP_PER_M = 48*47/(d*pi) +// Left real diameter: 0.12808 +#define STEP_PER_M_LEFT 5606.7 +// Right real diameter: 0.121 +#define STEP_PER_M_RIGHT 5934.8 +#define WHEEL_DIST 0.39912 // Measured: 0.252 #define PWM_BREAK INT16_MIN enum mode { diff --git a/avr/motor_ctrl/main.hex b/avr/motor_ctrl/main.hex index c405f68..24dd914 100644 --- a/avr/motor_ctrl/main.hex +++ b/avr/motor_ctrl/main.hex @@ -1,680 +1,683 @@ :100000000C94E6000C9403010C9403010C9403017E :100010000C9403010C9403010C9403010C94030150 -:100020000C9403010C9450040C9403010C940301F0 -:100030000C9403010C942B050C9403010C94030104 +:100020000C9403010C946B040C9403010C940301D5 +:100030000C9403010C9446050C9403010C940301E9 :100040000C9403010C9403010C9403010C9405011E -:100050000C940301EA02F402ED02F402F002F4024D -:10006000F202F40231043104310431043104310468 -:10007000F6020E03FB020E0300030E0305030E033C -:1000800031043104310431043104310431043104C8 -:10009000110316031B03200325032A032F03340334 -:1000A00031043104310431043104310431043104A8 -:1000B00039033E03430348034D03520357035D03D3 -:1000C000620373037C03850388039D03A60319045D 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+:102A7E0000800080008000800101000070012000B5 +:0A2A8E000D0A53746172740D00000C :00000001FF diff --git a/config/razor.yaml b/config/razor.yaml index e4a3c12..cb81148 100644 --- a/config/razor.yaml +++ b/config/razor.yaml @@ -23,8 +23,8 @@ magn_z_max: 596 # extended calibration calibration_magn_use_extended: true -magn_ellipsoid_center: [302.374, 39.5765, -397.215] -magn_ellipsoid_transform: [[0.924637, -0.0539937, 0.0408358], [-0.0539937, 0.958933, 0.0208039], [0.0408358, 0.0208039, 0.947891]] +magn_ellipsoid_center: [328.442, 29.7813, -414.405] +magn_ellipsoid_transform: [[0.912198, -0.0995186, 0.00347704], [-0.0995186, 0.879227, 0.0332387], [0.00347704, 0.0332387, 0.892227]] # AHRS to robot calibration imu_yaw_calibration: 0.0 -- 2.39.5