From f0107d7c53dc0e5d8c0c46311ce92f9fb17027e3 Mon Sep 17 00:00:00 2001
From: Erik Andresen <erik@vontaene.de>
Date: Wed, 23 Dec 2015 20:36:12 +0100
Subject: [PATCH] motor_ctrl: do handicap on both directions
---
avr/motor_ctrl/main.c | 37 +-
avr/motor_ctrl/main.hex | 1230 ++++++++++++++++++++-------------------
2 files changed, 634 insertions(+), 633 deletions(-)
diff --git a/avr/motor_ctrl/main.c b/avr/motor_ctrl/main.c
index 2ec14a1..479770a 100644
--- a/avr/motor_ctrl/main.c
+++ b/avr/motor_ctrl/main.c
@@ -60,7 +60,6 @@
* 0x3D Angle (rad/s)
* 0x3E Angle (rad/s)
* 0x3F Angle (rad/s) LSB
- * free
* 0x40 Position x (m) MSB
* 0x41 Position x (m)
* 0x42 Position x (m)
@@ -87,8 +86,8 @@
* 0x91 Motor 2 switch
* 0x92 Motor 3 switch
* 0x93 Motor 4 switch
- * 0x94 Front Handicap backward
- * 0x95 Aft Handicap forward
+ * 0x94 Front Handicap
+ * 0x95 Aft Handicap
* free
* 0xA0 Reset reason
* 0xA1 TLE Error status
@@ -161,8 +160,8 @@ 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_bwd=0;
-static volatile uint8_t aft_handicap_fwd=0;
+static volatile uint8_t front_handicap=0;
+static volatile uint8_t aft_handicap=0;
ISR(TWI_vect)
{
@@ -347,13 +346,13 @@ ISR(TWI_vect)
motor4_switch = TWDR;
TWI_ACK;
break;
- case 0x94: // Front Handicap backward
- front_handicap_bwd = TWDR;
+ case 0x94: // Front Handicap
+ front_handicap = TWDR;
cmd_vel.bUpdate = 1;
TWI_ACK;
break;
- case 0x95: // Aft Handicap forward
- aft_handicap_fwd = TWDR;
+ case 0x95: // Aft Handicap
+ aft_handicap = TWDR;
cmd_vel.bUpdate = 1;
TWI_ACK;
break;
@@ -968,26 +967,20 @@ int main(void) {
speed_wish_left*=STEP_PER_M_LEFT;
speed_wish_right*=STEP_PER_M_RIGHT;
- if (speed_wish_left > 0 && aft_handicap_fwd > 0) {
- speed1_wish = speed_wish_left * (100-aft_handicap_fwd)/100.0;
+ if (aft_handicap > 0) {
+ speed1_wish = speed_wish_left * (100-aft_handicap)/100.0;
+ speed4_wish = speed_wish_right * (100-aft_handicap)/100.0;
} else {
speed1_wish = speed_wish_left;
+ speed4_wish = speed_wish_right;
}
- if (speed_wish_left < 0 && front_handicap_bwd > 0) {
- speed2_wish = speed_wish_left * (100-front_handicap_bwd)/100.0;
+ if (front_handicap > 0) {
+ speed2_wish = speed_wish_left * (100-front_handicap)/100.0;
+ speed3_wish = speed_wish_right * (100-front_handicap)/100.0;
} else {
speed2_wish = speed_wish_left;
- }
- 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 (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;
- }
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 f6c2b4d..5e58bba 100644
--- a/avr/motor_ctrl/main.hex
+++ b/avr/motor_ctrl/main.hex
@@ -1,631 +1,639 @@
:100000000C9445000C9462000C9462000C94620005
:100010000C9462000C9462000C9462000C946200D8
-:100020000C9462000C9452040C9462000C946200D4
-:100030000C9462000C942D050C9462000C946200E8
+:100020000C9462000C9455040C9462000C946200D1
+:100030000C9462000C9440050C9462000C946200D5
:100040000C9462000C9462000C9462000C946400A6
:100050000C94620005A84CCDB2D44EB93836A90232
:100060000C50B9918688083CA6AAAA2ABE000000B6
:10007000803F45464765666700202B2D2E30313284
:100080003334353637383968000011241FBECFE5C8
-:10009000D8E0DEBFCDBF10E0A0E6B0E0EAE3F7E2D3
+:10009000D8E0DEBFCDBF10E0A0E6B0E0E4EBF7E2D1
:1000A00002C005900D92A837B107D9F721E0A8E763
-:1000B000B0E001C01D92A736B207E1F70E94220608
-:1000C0000C949B130C9400001F920F920FB60F928A
+:1000B000B0E001C01D92A736B207E1F70E943606F4
+:1000C0000C94D8130C9400001F920F920FB60F924D
:1000D00011242F933F934F935F936F937F938F934D
:1000E0009F93AF93BF93EF93FF9381B1887F803845
-:1000F00081F040F4803609F0BFC385EC86BF1092D2
-:10010000E800BFC3883A09F4B7C1883B09F4B4C119
-:10011000B3C38091E8008A3209F449C108F047C0AE
+:1000F00081F040F4803609F0C2C385EC86BF1092CF
+:10010000E800C2C3883A09F4B9C1883B09F4B6C112
+:10011000B6C38091E8008A3209F44BC108F047C0A9
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-:10014000833009F4F2C090C3863009F4BDC008F4CE
-:10015000ECC0873009F4E9C0883009F085C383B169
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--
2.39.5