avr/motor_ctrl: handicap: sep forward, backward

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

diff --git a/avr/motor_ctrl/main.c b/avr/motor_ctrl/main.c
index f8a5c34b95fbb81eebca2a3e7ea923610e661c19..1fd829253bd09f76c7e45800fa41cdedfe0255b2 100644 (file)
--- a/avr/motor_ctrl/main.c
+++ b/avr/motor_ctrl/main.c
@@ -87,8 +87,8 @@
  * 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
@@ -158,8 +158,8 @@ 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=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)
 {
@@ -344,12 +344,12 @@ 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
@@ -545,19 +545,19 @@ ISR(TWI_vect)
                                        TWI_ACK;
                                        break;
                                case 0x48: // Position angle MSB
-                                       TWDR = pos_y.i>>24;
+                                       TWDR = angle.i>>24;
                                        TWI_ACK;
                                        break;
                                case 0x49: // Position angle
-                                       TWDR = pos_y.i>>16;
+                                       TWDR = angle.i>>16;
                                        TWI_ACK;
                                        break;
                                case 0x4A: // Position angle
-                                       TWDR = pos_y.i>>8;
+                                       TWDR = angle.i>>8;
                                        TWI_ACK;
                                        break;
                                case 0x4B: // Position angle LSB
-                                       TWDR = pos_y.i;
+                                       TWDR = angle.i;
                                        TWI_ACK;
                                        break;
                                case 0xA0: // Reset reason
@@ -895,6 +895,9 @@ int main(void) {
        DDRB = (1 << 3);
        DDRC = (1 << 7) | (1 << 6) | (1 << 5) | (1 << 4) | (1 << 3) | (1 << 2);
        DDRD = (1 << 7) | (1 << 5) | (1 << 4) | (1 << 3) | (1 << 2);
+       // Pullup TLEs EF
+       PORTB = (1 << 0) | (1 << 1) | (1 << 2);
+       PORTD = (1 << 6);
 
        bootloader = 0x00;
        setup_uart(9600);
@@ -960,10 +963,26 @@ int main(void) {
                        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;