* 0x91 Motor 2 switch
* 0x92 Motor 3 switch
* 0x93 Motor 4 switch
+ * 0x94 Front Handicap backward
+ * 0x95 Aft Handicap forward
* free
* 0xA0 Reset reason
* 0xA1 TLE Error status
#define KI 0.051429
#define KD 0.000378
#define PID_T 0.01
-#define STEP_PER_M 3376.1 // wheel diameter=12cm, encoder=48cpr, gear ratio=1:34
-#define WHEEL_DIST 0.252
+// wheel diameter=12cm, encoder=48cpr, gear ratio=1:34, real wheel diameter: 0.12454m
+#define STEP_PER_M_AVG 4171.4
+#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
enum mode {
MOTOR_MANUAL,
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;
ISR(TWI_vect)
{
break;
case 0x2B: // Left speed wish LSB
tmp_speed.i = tmp_speed.i << 8 | TWDR;
- speed1_wish = tmp_speed.f*STEP_PER_M;
- speed2_wish = tmp_speed.f*STEP_PER_M;
+ speed1_wish = tmp_speed.f*STEP_PER_M_LEFT;
+ speed2_wish = tmp_speed.f*STEP_PER_M_LEFT;
motor1_mode = MOTOR_PID;
motor2_mode = MOTOR_PID;
TWI_ACK;
break;
case 0x2F: // Right speed wish LSB
tmp_speed.i = tmp_speed.i << 8 | TWDR;
- speed1_wish = tmp_speed.f*STEP_PER_M;
- speed2_wish = tmp_speed.f*STEP_PER_M;
+ speed1_wish = tmp_speed.f*STEP_PER_M_RIGHT;
+ speed2_wish = tmp_speed.f*STEP_PER_M_RIGHT;
motor1_mode = MOTOR_PID;
motor2_mode = MOTOR_PID;
TWI_ACK;
motor4_switch = TWDR;
TWI_ACK;
break;
+ case 0x94: // Front Handicap backward
+ front_handicap_bwd = TWDR;
+ cmd_vel.bUpdate = 1;
+ TWI_ACK;
+ break;
+ case 0x95: // Aft Handicap forward
+ aft_handicap_fwd = TWDR;
+ cmd_vel.bUpdate = 1;
+ TWI_ACK;
+ break;
case 0xff: // bootloader
bootloader = TWDR;
default:
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
new_speed3 = pos3_diff/PID_T;
new_speed4 = pos4_diff/PID_T;
- diff_left_m = (pos1_diff + pos2_diff)/(2*STEP_PER_M);
- diff_right_m = (pos3_diff + pos4_diff)/(2*STEP_PER_M);
+ diff_left_m = (pos1_diff + pos2_diff)/(2*STEP_PER_M_LEFT);
+ diff_right_m = (pos3_diff + pos4_diff)/(2*STEP_PER_M_RIGHT);
angle_diff = (diff_right_m - diff_left_m) / WHEEL_DIST;
angle_new = angle.f + angle_diff;
if (angle_new > 2*M_PI) angle_new-=2*M_PI;
- else if (angle_new < 2*M_PI) angle_new+=2*M_PI;
+ else if (angle_new < -2*M_PI) angle_new+=2*M_PI;
translation = (diff_left_m + diff_right_m)/2.0;
pos_x_new = pos_x.f + cos(angle_new)*translation;
speed_l = (new_speed1+new_speed2)/2;
speed_r = (new_speed3+new_speed4)/2;
- tmp_speed_lin = (speed_l + speed_r)/(2.0*STEP_PER_M);
- tmp_speed_rot = (speed_r - speed_l)/(M_PI*WHEEL_DIST*STEP_PER_M);
+ tmp_speed_lin = (speed_l + speed_r)/(2.0*STEP_PER_M_AVG);
+ tmp_speed_rot = (speed_r - speed_l)/(M_PI*WHEEL_DIST*STEP_PER_M_AVG);
// copy from tmp
cli();
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);
speed_wish_right = angle*M_PI*WHEEL_DIST/2 + speed;
speed_wish_left = speed*2-speed_wish_right;
- speed_wish_left*=STEP_PER_M;
- speed_wish_right*=STEP_PER_M;
+ speed_wish_left*=STEP_PER_M_LEFT;
+ speed_wish_right*=STEP_PER_M_RIGHT;
- speed1_wish = speed_wish_left;
- speed2_wish = speed_wish_left;
- speed3_wish = speed_wish_right;
- speed4_wish = speed_wish_right;
+ if (speed_wish_left > 0 && aft_handicap_fwd > 0) {
+ speed1_wish = speed_wish_left * (100-aft_handicap_fwd)/100.0;
+ } else {
+ speed1_wish = speed_wish_left;
+ }
+ if (speed_wish_left < 0 && front_handicap_bwd > 0) {
+ speed2_wish = speed_wish_left * (100-front_handicap_bwd)/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;