motor_ctrl: break when going to fast

[ros_wild_thumper.git] / avr / motor_ctrl / main.c

diff --git a/avr/motor_ctrl/main.c b/avr/motor_ctrl/main.c
index 6d9f620c672151732547f12d40e904319c4134a3..abbf5386146205c5b52c55780f9b971015ecf2be 100644 (file)
--- a/avr/motor_ctrl/main.c
+++ b/avr/motor_ctrl/main.c
@@ -110,6 +110,7 @@
 #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
+#define PWM_BREAK INT16_MIN
 
 enum mode {
        MOTOR_MANUAL,
@@ -698,6 +699,8 @@ static void update_motor(void) {
                if (motor1 == 0) {
                        // stop
                        PORTC &= ~(1 << 3) & ~(1 << 2);
+               } else if (motor1 == PWM_BREAK) {
+                       PORTC |= (1 << 3) | (1 << 2);
                } else if ((!motor1_switch && motor1 > 0) || (motor1_switch && motor1 < 0)) {
                        // forward
                        uint8_t tmp=PORTC;
@@ -720,6 +723,8 @@ static void update_motor(void) {
                if (motor2 == 0) {
                        // stop
                        PORTC &= ~(1 << 5) & ~(1 << 4);
+               } else if (motor2 == PWM_BREAK) {
+                       PORTC |= (1 << 5) | (1 << 4);
                } else if ((!motor2_switch && motor2 > 0) || (motor2_switch && motor2 < 0)) {
                        // forward
                        uint8_t tmp=PORTC;
@@ -742,6 +747,8 @@ static void update_motor(void) {
                if (motor3 == 0) {
                        // stop
                        PORTC &= ~(1 << 7) & ~(1 << 6);
+               } else if (motor3 == PWM_BREAK) {
+                       PORTC |= (1 << 7) | (1 << 6);
                } else if ((!motor3_switch && motor3 > 0) || (motor3_switch && motor3 < 0)) {
                        // forward
                        uint8_t tmp=PORTC;
@@ -764,6 +771,8 @@ static void update_motor(void) {
                if (motor4 == 0) {
                        // stop
                        PORTD &= ~(1 << 3) & ~(1 << 2);
+               } else if (motor4 == PWM_BREAK) {
+                       PORTD |= (1 << 3) | (1 << 2);
                } else if ((!motor4_switch && motor4 > 0) || (motor4_switch && motor4 < 0)) {
                        // forward
                        uint8_t tmp=PORTD;
@@ -863,26 +872,26 @@ static void update_pid(void) {
        static int32_t esum4=0;
 
        // protect motors from damage if stalling
-       if (labs(esum1) > 120000 && speed1 == 0) {
+       if (labs(esum1) > 140000 && speed1 == 0) {
                motor1 = 0;
                motor1_mode = MOTOR_MANUAL;
                error_state |= (1<<4);
                esum1 = 0;
        }       
-       if (labs(esum2) > 120000 && speed2 == 0) {
+       if (labs(esum2) > 140000 && speed2 == 0) {
                motor2 = 0;
                motor2_mode = MOTOR_MANUAL;
                error_state |= (1<<5);
                esum2 = 0;
        }       
-       if (labs(esum3) > 120000 && speed3 == 0) {
+       if (labs(esum3) > 140000 && speed3 == 0) {
                motor3 = 0;
                motor3_mode = MOTOR_MANUAL;
                error_state |= (1<<6);
                esum3 = 0;
        }       
        // protect motors from damage if stalling
-       if (labs(esum4) > 120000 && speed4 == 0) {
+       if (labs(esum4) > 140000 && speed4 == 0) {
                motor4 = 0;
                motor4_mode = MOTOR_MANUAL;
                error_state |= (1<<7);
@@ -891,7 +900,7 @@ static void update_pid(void) {
 
        if (motor1_mode == MOTOR_PID) {
                if (speed1_wish != speed1_wish_old) {
-                       esum1 = 0;
+                       if (abs(speed1_wish - speed1_wish_old) > 500) esum1 = 0;
                        speed1_wish_old = speed1_wish;
                }
 
@@ -905,15 +914,15 @@ static void update_pid(void) {
                        motor1 = KP*e + KI*PID_T*esum1 + KD/PID_T*(e - eold1);
                        eold1 = e;
 
-                       if (motor1 > 0 && speed1_wish < 0) motor1=0;
-                       else if (motor1 < 0 && speed1_wish > 0) motor1=0;
+                       if (motor1 > 0 && speed1_wish < 0) motor1=PWM_BREAK;
+                       else if (motor1 < 0 && speed1_wish > 0) motor1=PWM_BREAK;
                        else if (motor1 > 255) motor1 = 255;
                        else if (motor1 < -255) motor1 = -255;
                }
        }
        if (motor2_mode == MOTOR_PID) {
                if (speed2_wish != speed2_wish_old) {
-                       esum2 = 0;
+                       if (abs(speed2_wish - speed2_wish_old) > 500) esum2 = 0;
                        speed2_wish_old = speed2_wish;
                }
 
@@ -927,15 +936,15 @@ static void update_pid(void) {
                        motor2 = KP*e + KI*PID_T*esum2 + KD/PID_T*(e - eold2);
                        eold2 = e;
 
-                       if (motor2 > 0 && speed2_wish < 0) motor2=0;
-                       else if (motor2 < 0 && speed2_wish > 0) motor2=0;
+                       if (motor2 > 0 && speed2_wish < 0) motor2=PWM_BREAK;
+                       else if (motor2 < 0 && speed2_wish > 0) motor2=PWM_BREAK;
                        else if (motor2 > 255) motor2 = 255;
                        else if (motor2 < -255) motor2 = -255;
                }
        }
        if (motor3_mode == MOTOR_PID) {
                if (speed3_wish != speed3_wish_old) {
-                       esum3 = 0;
+                       if (abs(speed3_wish - speed3_wish_old) > 500) esum3 = 0;
                        speed3_wish_old = speed3_wish;
                }
 
@@ -949,15 +958,15 @@ static void update_pid(void) {
                        motor3 = KP*e + KI*PID_T*esum3 + KD/PID_T*(e - eold3);
                        eold3 = e;
 
-                       if (motor3 > 0 && speed3_wish < 0) motor3=0;
-                       else if (motor3 < 0 && speed3_wish > 0) motor3=0;
+                       if (motor3 > 0 && speed3_wish < 0) motor3=PWM_BREAK;
+                       else if (motor3 < 0 && speed3_wish > 0) motor3=PWM_BREAK;
                        else if (motor3 > 255) motor3 = 255;
                        else if (motor3 < -255) motor3 = -255;
                }
        }
        if (motor4_mode == MOTOR_PID) {
                if (speed4_wish != speed4_wish_old) {
-                       esum4 = 0;
+                       if (abs(speed4_wish - speed4_wish_old) > 500) esum4 = 0;
                        speed4_wish_old = speed4_wish;
                }
 
@@ -971,8 +980,8 @@ static void update_pid(void) {
                        motor4 = KP*e + KI*PID_T*esum4 + KD/PID_T*(e - eold4);
                        eold4 = e;
 
-                       if (motor4 > 0 && speed4_wish < 0) motor4=0;
-                       else if (motor4 < 0 && speed4_wish > 0) motor4=0;
+                       if (motor4 > 0 && speed4_wish < 0) motor4=PWM_BREAK;
+                       else if (motor4 < 0 && speed4_wish > 0) motor4=PWM_BREAK;
                        else if (motor4 > 255) motor4 = 255;
                        else if (motor4 < -255) motor4 = -255;
                }