umbmark correction

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

diff --git a/avr/motor_ctrl/main.c b/avr/motor_ctrl/main.c
index bd9fc9e31d634c73f3e622b3508db4d850e4ae3d..2ec14a12c6c26f2d581f9919a868765bb07e3527 100644 (file)
--- a/avr/motor_ctrl/main.c
+++ b/avr/motor_ctrl/main.c
@@ -106,8 +106,11 @@
 #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,
@@ -267,8 +270,8 @@ 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;
@@ -287,8 +290,8 @@ ISR(TWI_vect)
                                        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;
@@ -772,13 +775,13 @@ static void update_pos(void) {
        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;
@@ -786,8 +789,8 @@ static void update_pos(void) {
 
        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();
@@ -962,8 +965,8 @@ int main(void) {
                        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;
 
                        if (speed_wish_left > 0 && aft_handicap_fwd > 0) {
                                speed1_wish = speed_wish_left * (100-aft_handicap_fwd)/100.0;