* 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)
* 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
#define TWI_RESET TWCR &= ~((1 << TWSTO) | (1 << TWEN)); TWI_ACK
#define TWI_NAK TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE)
-#define KP 0.009
-#define KI 0.051429
-#define KD 0.000378
+#define KP 0.045
+#define KI 2.298
+#define KD 0.0004
#define PID_T 0.01
// wheel diameter=12cm, encoder=48cpr, gear ratio=1:34, real wheel diameter: 0.12454m
#define STEP_PER_M_AVG 4171.4
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;
+static volatile uint8_t error_state=0;
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;
TWI_ACK;
break;
case 0xA1: // TLE Error status
- TWDR = ~((PIND & 0x40)>>3 | (PINB & 0x07)) & 0xf;
+ TWDR = error_state;
TWI_ACK;
break;
case 0xA2: // count test
static int16_t m3_old=SHRT_MIN;
static int16_t m4_old=SHRT_MIN;
+ error_state = ~((PIND & 0x40)>>3 | (PINB & 0x07)) & 0xf;
+
+ // if error and running: stop
+ if (motor1_mode == MOTOR_PID && bit_is_set(error_state, 0) && m1_old != 0) motor1 = 0;
+ if (motor2_mode == MOTOR_PID && bit_is_set(error_state, 1) && m2_old != 0) motor2 = 0;
+ if (motor3_mode == MOTOR_PID && bit_is_set(error_state, 2) && m3_old != 0) motor3 = 0;
+ if (motor4_mode == MOTOR_PID && bit_is_set(error_state, 3) && m4_old != 0) motor4 = 0;
+
+ // if we start motor in error state: start with full power
+ if (motor1_mode == MOTOR_PID && bit_is_set(error_state, 0) && m1_old == 0 && motor1 != 0) motor1 = 255;
+ if (motor2_mode == MOTOR_PID && bit_is_set(error_state, 1) && m2_old == 0 && motor2 != 0) motor2 = 255;
+ if (motor3_mode == MOTOR_PID && bit_is_set(error_state, 2) && m3_old == 0 && motor3 != 0) motor3 = 255;
+ if (motor4_mode == MOTOR_PID && bit_is_set(error_state, 3) && m4_old == 0 && motor4 != 0) motor4 = 255;
+
if (m1_old != motor1) { // update only when changed
if (motor1 == 0) {
// stop
} else {
int16_t e = speed1_wish - speed1;
esum1+=e;
- motor1 += KP*e + KI*PID_T*esum1 + KD/PID_T*(e - eold1);
+ motor1 = KP*e + KI*PID_T*esum1 + KD/PID_T*(e - eold1);
eold1 = e;
if (motor1 > 255) motor1 = 255;
} else {
int16_t e = speed2_wish - speed2;
esum2+=e;
- motor2 += KP*e + KI*PID_T*esum2 + KD/PID_T*(e - eold2);
+ motor2 = KP*e + KI*PID_T*esum2 + KD/PID_T*(e - eold2);
eold2 = e;
if (motor2 > 255) motor2 = 255;
} else {
int16_t e = speed3_wish - speed3;
esum3+=e;
- motor3 += KP*e + KI*PID_T*esum3 + KD/PID_T*(e - eold3);
+ motor3 = KP*e + KI*PID_T*esum3 + KD/PID_T*(e - eold3);
eold3 = e;
if (motor3 > 255) motor3 = 255;
} else {
int16_t e = speed4_wish - speed4;
esum4+=e;
- motor4 += KP*e + KI*PID_T*esum4 + KD/PID_T*(e - eold4);
+ motor4 = KP*e + KI*PID_T*esum4 + KD/PID_T*(e - eold4);
eold4 = e;
if (motor4 > 255) motor4 = 255;
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;