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 f8a5c34b95fbb81eebca2a3e7ea923610e661c19..2ec14a12c6c26f2d581f9919a868765bb07e3527 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
@@ -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,
@@ -158,8 +161,8 @@ 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)
 {
@@ -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;
@@ -344,12 +347,14 @@ 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;
+                                       cmd_vel.bUpdate = 1;
                                        TWI_ACK;
                                        break;
-                               case 0x95: // Aft Handicap
-                                       aft_handicap = TWDR;
+                               case 0x95: // Aft Handicap forward
+                                       aft_handicap_fwd = TWDR;
+                                       cmd_vel.bUpdate = 1;
                                        TWI_ACK;
                                        break;
                                case 0xff: // bootloader
@@ -545,19 +550,19 @@ 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
@@ -770,13 +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;
@@ -784,8 +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();
@@ -895,6 +900,9 @@ 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);
@@ -957,13 +965,29 @@ 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;
 
-                       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 (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;