* 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
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)
{
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
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;