* 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
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 (bit_is_set(error_state, 0) && m1_old != 0) motor1 = 0;
+ if (bit_is_set(error_state, 1) && m2_old != 0) motor2 = 0;
+ if (bit_is_set(error_state, 2) && m3_old != 0) motor3 = 0;
+ if (bit_is_set(error_state, 3) && m4_old != 0) motor4 = 0;
+
+ // if we start motor in error state: start with full power
+ if (bit_is_set(error_state, 0) && m1_old == 0 && motor1 != 0) motor1 = 255;
+ if (bit_is_set(error_state, 1) && m2_old == 0 && motor2 != 0) motor2 = 255;
+ if (bit_is_set(error_state, 2) && m3_old == 0 && motor3 != 0) motor3 = 255;
+ if (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
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;