* 0x91 Motor 2 switch
* 0x92 Motor 3 switch
* 0x93 Motor 4 switch
- * 0x94 TLE Error status
+ * 0x94 Front Handicap backward
+ * 0x95 Aft Handicap forward
+ * free
+ * 0xA0 Reset reason
+ * 0xA1 TLE Error status
+ * 0xA2 count test
* free
* 0xff Bootloader
*/
#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,
uint32_t i;
} ufloat_t;
+static volatile struct {
+ float speed;
+ float angle;
+ uint8_t bUpdate;
+} cmd_vel = {0, 0, 0};
+
static volatile uint8_t ireg=0;
static volatile uint8_t bootloader=0;
static volatile int16_t motor1=0; // -255..+255
static volatile ufloat_t pos_x={0.0};
static volatile ufloat_t pos_y={0.0};
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_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;
break;
case 0x53: // speed wish LSB
tmp_speed.i = tmp_speed.i << 8 | TWDR;
+ cmd_vel.speed = tmp_speed.f;
TWI_ACK;
break;
case 0x54: // angle wish MSB
break;
case 0x57: // angle wish LSB
tmp_angle.i = tmp_angle.i << 8 | TWDR;
- {
- float speed_wish_right = tmp_angle.f*M_PI*WHEEL_DIST/2 + tmp_speed.f;
- float speed_wish_left = tmp_speed.f*2-speed_wish_right;
- speed1_wish = speed_wish_left*STEP_PER_M;
- speed2_wish = speed_wish_left*STEP_PER_M;
- speed3_wish = speed_wish_right*STEP_PER_M;
- speed4_wish = speed_wish_right*STEP_PER_M;
- }
- motor1_mode = MOTOR_PID;
- motor2_mode = MOTOR_PID;
- motor3_mode = MOTOR_PID;
- motor4_mode = MOTOR_PID;
+ cmd_vel.angle = tmp_angle.f;
+ cmd_vel.bUpdate = 1;
TWI_ACK;
break;
case 0x90: // Motor 1 switch
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 0x38: // speed MSB
- {
- int16_t speed_l = (speed3+speed4)/2;
- int16_t speed_r = (speed1+speed2)/2;
- tmp_speed.f = (speed_l + speed_r)/(2.0*STEP_PER_M);
- tmp_angle.f = (speed_r - speed_l)/(M_PI*WHEEL_DIST*STEP_PER_M);
- }
+ tmp_speed.f = cur_speed_lin;
TWDR = tmp_speed.i>>24;
TWI_ACK;
break;
TWI_ACK;
break;
case 0x3C: // angle MSB
+ tmp_angle.f = cur_speed_rot;
TWDR = tmp_angle.i>>24;
TWI_ACK;
break;
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 0x94: // TLE Error status
- TWDR = (PIND & 0x40)>>2 | (PINB & 0x07);
+ case 0xA0: // Reset reason
+ TWDR = MCUCSR & 0x0f;
+ MCUCSR = 0x0;
TWI_ACK;
break;
+ case 0xA1: // TLE Error status
+ TWDR = ~((PIND & 0x40)>>3 | (PINB & 0x07)) & 0xf;
+ TWI_ACK;
+ break;
+ case 0xA2: // count test
+ TWDR = count_test;
+ TWI_ACK;
default:
TWDR = 0;
TWI_NAK;
int16_t pos3_diff;
int16_t pos4_diff;
float diff_left_m, diff_right_m, angle_diff, translation;
+ float pos_x_new, pos_y_new, angle_new;
+ int16_t speed_l, speed_r;
+ float tmp_speed_lin, tmp_speed_rot;
+ int16_t cur_pos1, cur_pos2, cur_pos3, cur_pos4;
+ int16_t new_speed1, new_speed2, new_speed3, new_speed4;
+
+ // copy to tmp
+ cli();
+ cur_pos1 = pos1;
+ cur_pos2 = pos2;
+ cur_pos3 = pos3;
+ cur_pos4 = pos4;
+ sei();
+
+ pos1_diff = cur_pos1 - pos1_last;
+ pos2_diff = cur_pos2 - pos2_last;
+ pos3_diff = cur_pos3 - pos3_last;
+ pos4_diff = cur_pos4 - pos4_last;
+
+ new_speed1 = pos1_diff/PID_T;
+ new_speed2 = pos2_diff/PID_T;
+ new_speed3 = pos3_diff/PID_T;
+ new_speed4 = pos4_diff/PID_T;
- //cli();
- pos1_diff = pos1 - pos1_last;
- pos2_diff = pos2 - pos2_last;
- pos3_diff = pos3 - pos3_last;
- pos4_diff = pos4 - pos4_last;
- speed1 = pos1_diff/PID_T;
- speed2 = pos2_diff/PID_T;
- speed3 = pos3_diff/PID_T;
- speed4 = pos4_diff/PID_T;
- //sei();
-
- 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;
- //cli();
- angle.f+=angle_diff;
- if (angle.f > 2*M_PI) angle.f-=2*M_PI;
- else if (angle.f < 2*M_PI) angle.f+=2*M_PI;
- //sei();
-
- //cli();
+ 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;
+
translation = (diff_left_m + diff_right_m)/2.0;
- pos_x.f += cos(angle.f)*translation;
- pos_y.f += sin(angle.f)*translation;
- //sei();
-
- pos1_last = pos1;
- pos2_last = pos2;
- pos3_last = pos3;
- pos4_last = pos4;
+ pos_x_new = pos_x.f + cos(angle_new)*translation;
+ pos_y_new = pos_y.f + sin(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_AVG);
+ tmp_speed_rot = (speed_r - speed_l)/(M_PI*WHEEL_DIST*STEP_PER_M_AVG);
+
+ // copy from tmp
+ cli();
+ angle.f = angle_new;
+ pos_x.f = pos_x_new;
+ pos_y.f = pos_y_new;
+ speed1 = new_speed1;
+ speed2 = new_speed2;
+ speed3 = new_speed3;
+ speed4 = new_speed4;
+ cur_speed_lin = tmp_speed_lin;
+ cur_speed_rot = tmp_speed_rot;
+ sei();
+
+ pos1_last = cur_pos1;
+ pos2_last = cur_pos2;
+ pos3_last = cur_pos3;
+ pos4_last = cur_pos4;
}
if (motor1_mode == MOTOR_PID) {
if (speed1_wish == 0) {
motor1 = 0;
+ eold1 = 0;
+ esum1 = 0;
} else {
int16_t e = speed1_wish - speed1;
esum1+=e;
if (motor2_mode == MOTOR_PID) {
if (speed2_wish == 0) {
motor2 = 0;
+ eold2 = 0;
+ esum2 = 0;
} else {
int16_t e = speed2_wish - speed2;
esum2+=e;
if (motor3_mode == MOTOR_PID) {
if (speed3_wish == 0) {
motor3 = 0;
+ eold3 = 0;
+ esum3 = 0;
} else {
int16_t e = speed3_wish - speed3;
esum3+=e;
if (motor4_mode == MOTOR_PID) {
if (speed4_wish == 0) {
motor4 = 0;
+ eold4 = 0;
+ esum4 = 0;
} else {
int16_t e = speed4_wish - speed4;
esum4+=e;
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);
OCR1B = 0;
// Motor 3
- // Timer 2: Fast PWM inverting mode, Top=256 => 15.625kHz
+ // Timer 2: Fast PWM inverting mode, Top=256
// Prescaler=1
TCCR2 = (1 << WGM21) | (1 << WGM20) | (1 << COM21) | (1 << COM20) | (1 << CS20);
OCR2 = 0;
// Motor 4
- // Timer 0: Fast PWM inverting mode, Top=256 => 15.625kHz
+ // Timer 0: Fast PWM inverting mode, Top=256
// Prescaler=1
TCCR0 = (1 << WGM01) | (1 << WGM00) | (1 << COM01) | (1 << COM00) | (1 << CS00);
OCR0 = 0;
}
break;
}
-
+
+ if (cmd_vel.bUpdate) {
+ float speed_wish_right, speed_wish_left;
+ float speed, angle;
+
+ cli();
+ speed = cmd_vel.speed;
+ angle = cmd_vel.angle;
+ cmd_vel.bUpdate = 0;
+ sei();
+
+ speed_wish_right = angle*M_PI*WHEEL_DIST/2 + speed;
+ speed_wish_left = speed*2-speed_wish_right;
+
+ 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;
+ } 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;
+ motor4_mode = MOTOR_PID;
+ }
if (run_update >= 156) { // ~100Hz
run_update=0;
update_pos();
update_pid();
update_motor();
+ count_test++;
}
sleep_mode();
projects / ros_wild_thumper.git / blobdiff