use esum to stop motor when stalling to avoid damage
[ros_wild_thumper.git] / avr / motor_ctrl / main.c
index 09a8a725fea9d5409e0339d783124dbcc7587ad7..3dca8cc80bb9fa380d3e9f0d3689a31d28929b09 100644 (file)
@@ -1,6 +1,7 @@
 #include <stdio.h>
 #include <stdlib.h>
 #include <limits.h>
+#include <math.h>
 #include <avr/io.h>
 #include <avr/interrupt.h>
 #include <avr/sleep.h>
  * 0x25 Motor 3 speed wish LSB
  * 0x26 Motor 4 speed wish MSB
  * 0x27 Motor 4 speed wish LSB
+ * 0x28 Left speed wish (m/s) MSB
+ * 0x29 Left speed wish (m/s)
+ * 0x2A Left speed wish (m/s)
+ * 0x2B Left speed wish (m/s) LSB
+ * 0x2C Right speed wish (m/s) MSB
+ * 0x2D Right speed wish (m/s)
+ * 0x2E Right speed wish (m/s)
+ * 0x2F Right speed wish (m/s) LSB
+ * 0x30 Motor 1 speed MSB
+ * 0x31 Motor 1 speed LSB
+ * 0x32 Motor 2 speed MSB
+ * 0x33 Motor 2 speed LSB
+ * 0x34 Motor 3 speed MSB
+ * 0x35 Motor 3 speed LSB
+ * 0x36 Motor 4 speed MSB
+ * 0x37 Motor 4 speed LSB
+ * 0x38 Speed (m/s) MSB
+ * 0x39 Speed (m/s)
+ * 0x3A Speed (m/s)
+ * 0x3B Speed (m/s) LSB
+ * 0x3C Angle (rad/s) MSB
+ * 0x3D Angle (rad/s)
+ * 0x3E Angle (rad/s)
+ * 0x3F Angle (rad/s) LSB
+ * 0x40 Position x (m) MSB
+ * 0x41 Position x (m)
+ * 0x42 Position x (m)
+ * 0x43 Position x (m) LSB
+ * 0x44 Position y (m) MSB
+ * 0x45 Position y (m)
+ * 0x46 Position y (m)
+ * 0x47 Position y (m) LSB
+ * 0x48 Position angle MSB
+ * 0x49 Position angle
+ * 0x4A Position angle
+ * 0x4B Position angle LSB
+ * free
+ * 0x50 speed wish (m/s) MSB
+ * 0x51 speed wish (m/s)
+ * 0x52 speed wish (m/s)
+ * 0x53 speed wish (m/s) LSB
+ * 0x54 angle wish (rad/s) MSB
+ * 0x55 angle wish (rad/s)
+ * 0x56 angle wish (rad/s)
+ * 0x57 angle wish (rad/s) LSB
  * free
  * 0x90 Motor 1 switch
  * 0x91 Motor 2 switch
  * 0x92 Motor 3 switch
  * 0x93 Motor 4 switch
+ * 0x94 Front Handicap
+ * 0x95 Aft Handicap
+ * free
+ * 0xA0 Reset reason
+ * 0xA1 Error status
+ * 0xA2 count test
  * free
  * 0xff Bootloader
  */
 #define TWI_RESET      TWCR &= ~((1 << TWSTO) | (1 << TWEN)); TWI_ACK
 #define TWI_NAK                TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE)
 
-#define KP 10.0
-#define KI 0.0 
-#define KD 0.0 
-#define TIMER0_T 0.020
+#define KP 0.039
+#define KI 0.08
+#define KD 0.0
+#define PID_T 0.01
+// 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,
        MOTOR_PID
 };
 
+typedef union {
+       float f;
+       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;
+static volatile int16_t motor1=0; // -255..+255
 static volatile int16_t motor2=0;
 static volatile int16_t motor3=0;
 static volatile int16_t motor4=0;
-static volatile int16_t pos1=0;
+static volatile int16_t pos1=0; // step
 static volatile int16_t pos2=0;
 static volatile int16_t pos3=0;
 static volatile int16_t pos4=0;
@@ -73,27 +141,38 @@ static volatile enum mode motor1_mode=MOTOR_MANUAL;
 static volatile enum mode motor2_mode=MOTOR_MANUAL;
 static volatile enum mode motor3_mode=MOTOR_MANUAL;
 static volatile enum mode motor4_mode=MOTOR_MANUAL;
-static volatile uint8_t motor1_switch=0;
-static volatile uint8_t motor2_switch=0;
+static volatile uint8_t motor1_switch=1;
+static volatile uint8_t motor2_switch=1;
 static volatile uint8_t motor3_switch=0;
 static volatile uint8_t motor4_switch=0;
-static volatile int16_t speed1_wish=0;
+static volatile int16_t speed1_wish=0; // step/s
 static volatile int16_t speed2_wish=0;
 static volatile int16_t speed3_wish=0;
 static volatile int16_t speed4_wish=0;
-static volatile uint16_t run_pid=0;
-static int16_t speed1=0;
-static int16_t speed2=0;
-static int16_t speed3=0;
-static int16_t speed4=0;
+static volatile uint8_t run_update=0;
+static volatile int16_t speed1=0; // step/s
+static volatile int16_t speed2=0;
+static volatile int16_t speed3=0;
+static volatile int16_t speed4=0;
+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=0;
+static volatile uint8_t aft_handicap=0;
+static volatile uint8_t error_state=0;
 
 ISR(TWI_vect)
 {
        static uint8_t tmp=0;
        static int16_t tmp16=0;
+       static ufloat_t tmp_speed;
+       static ufloat_t tmp_angle;
 
        switch (TWSR & 0xF8)
-       {  
+       {
                case 0x60: // start write
                        TWI_ACK;
                        ireg = 0;
@@ -177,6 +256,81 @@ ISR(TWI_vect)
                                        motor4_mode = MOTOR_PID;
                                        TWI_ACK;
                                        break;
+                               case 0x28: // Left speed wish MSB
+                                       tmp_speed.i = TWDR;
+                                       TWI_ACK;
+                                       break;
+                               case 0x29: // Left speed wish
+                                       tmp_speed.i = tmp_speed.i << 8 | TWDR;
+                                       TWI_ACK;
+                                       break;
+                               case 0x2A: // Left speed wish
+                                       tmp_speed.i = tmp_speed.i << 8 | TWDR;
+                                       TWI_ACK;
+                                       break;
+                               case 0x2B: // Left speed wish LSB
+                                       tmp_speed.i = tmp_speed.i << 8 | TWDR;
+                                       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 0x2C: // Right speed wish MSB
+                                       tmp_speed.i = TWDR;
+                                       TWI_ACK;
+                                       break;
+                               case 0x2D: // Right speed wish
+                                       tmp_speed.i = tmp_speed.i << 8 | TWDR;
+                                       TWI_ACK;
+                                       break;
+                               case 0x2E: // Right speed wish
+                                       tmp_speed.i = tmp_speed.i << 8 | TWDR;
+                                       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_RIGHT;
+                                       speed2_wish = tmp_speed.f*STEP_PER_M_RIGHT;
+                                       motor1_mode = MOTOR_PID;
+                                       motor2_mode = MOTOR_PID;
+                                       TWI_ACK;
+                                       break;
+                               case 0x50: // speed wish MSB
+                                       tmp_speed.i = TWDR;
+                                       TWI_ACK;
+                                       break;
+                               case 0x51: // speed wish
+                                       tmp_speed.i = tmp_speed.i << 8 | TWDR;
+                                       TWI_ACK;
+                                       break;
+                               case 0x52: // speed wish
+                                       tmp_speed.i = tmp_speed.i << 8 | TWDR;
+                                       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
+                                       tmp_angle.i = TWDR;
+                                       TWI_ACK;
+                                       break;
+                               case 0x55: // angle wish
+                                       tmp_angle.i = tmp_angle.i << 8 | TWDR;
+                                       TWI_ACK;
+                                       break;
+                               case 0x56: // angle wish
+                                       tmp_angle.i = tmp_angle.i << 8 | TWDR;
+                                       TWI_ACK;
+                                       break;
+                               case 0x57: // angle wish LSB
+                                       tmp_angle.i = tmp_angle.i << 8 | TWDR;
+                                       cmd_vel.angle = tmp_angle.f;
+                                       cmd_vel.bUpdate = 1;
+                                       TWI_ACK;
+                                       break;
                                case 0x90: // Motor 1 switch
                                        motor1_switch = TWDR;
                                        TWI_ACK;
@@ -193,6 +347,16 @@ ISR(TWI_vect)
                                        motor4_switch = TWDR;
                                        TWI_ACK;
                                        break;
+                               case 0x94: // Front Handicap
+                                       front_handicap = TWDR;
+                                       cmd_vel.bUpdate = 1;
+                                       TWI_ACK;
+                                       break;
+                               case 0x95: // Aft Handicap
+                                       aft_handicap = TWDR;
+                                       cmd_vel.bUpdate = 1;
+                                       TWI_ACK;
+                                       break;
                                case 0xff: // bootloader
                                        bootloader = TWDR;
                                default:
@@ -207,18 +371,34 @@ ISR(TWI_vect)
                                        TWDR = OCR1A;
                                        TWI_ACK;
                                        break;
+                               case 0x03: // Dummy to allow continous read
+                                       TWDR = 0;
+                                       TWI_ACK;
+                                       break;
                                case 0x04: // Motor 2 PWM
                                        TWDR = OCR1B;
                                        TWI_ACK;
                                        break;
+                               case 0x05: // Dummy to allow continous read
+                                       TWDR = 0;
+                                       TWI_ACK;
+                                       break;
                                case 0x06: // Motor 3 PWM
                                        TWDR = OCR2;
                                        TWI_ACK;
                                        break;
+                               case 0x07: // Dummy to allow continous read
+                                       TWDR = 0;
+                                       TWI_ACK;
+                                       break;
                                case 0x08: // Motor 4 PWM
                                        TWDR = OCR0;
                                        TWI_ACK;
                                        break;
+                               case 0x09: // Dummy to allow continous read
+                                       TWDR = 0;
+                                       TWI_ACK;
+                                       break;
                                case 0x10: // Hall 1 MSB
                                        tmp16 = pos1;
                                        TWDR = tmp16>>8;
@@ -287,6 +467,132 @@ ISR(TWI_vect)
                                        TWDR = speed4_wish;
                                        TWI_ACK;
                                        break;
+                               case 0x30: // Motor 1 speed MSB
+                                       TWDR = speed1>>8;
+                                       TWI_ACK;
+                                       break;
+                               case 0x31: // Motor 1 speed LSB
+                                       TWDR = speed1;
+                                       TWI_ACK;
+                                       break;
+                               case 0x32: // Motor 2 speed MSB
+                                       TWDR = speed2>>8;
+                                       TWI_ACK;
+                                       break;
+                               case 0x33: // Motor 2 speed LSB
+                                       TWDR = speed2;
+                                       TWI_ACK;
+                                       break;
+                               case 0x34: // Motor 3 speed MSB
+                                       TWDR = speed3>>8;
+                                       TWI_ACK;
+                                       break;
+                               case 0x35: // Motor 3 speed LSB
+                                       TWDR = speed3;
+                                       TWI_ACK;
+                                       break;
+                               case 0x36: // Motor 4 speed MSB
+                                       TWDR = speed4>>8;
+                                       TWI_ACK;
+                                       break;
+                               case 0x37: // Motor 4 speed LSB
+                                       TWDR = speed4;
+                                       TWI_ACK;
+                                       break;
+                               case 0x38: // speed MSB
+                                       tmp_speed.f = cur_speed_lin;
+                                       TWDR = tmp_speed.i>>24;
+                                       TWI_ACK;
+                                       break;
+                               case 0x39: // speed
+                                       TWDR = tmp_speed.i>>16;
+                                       TWI_ACK;
+                                       break;
+                               case 0x3A: // speed
+                                       TWDR = tmp_speed.i>>8;
+                                       TWI_ACK;
+                                       break;
+                               case 0x3B: // speed LSB
+                                       TWDR = tmp_speed.i;
+                                       TWI_ACK;
+                                       break;
+                               case 0x3C: // angle MSB
+                                       tmp_angle.f = cur_speed_rot;
+                                       TWDR = tmp_angle.i>>24;
+                                       TWI_ACK;
+                                       break;
+                               case 0x3D: // angle
+                                       TWDR = tmp_angle.i>>16;
+                                       TWI_ACK;
+                                       break;
+                               case 0x3E: // angle
+                                       TWDR = tmp_angle.i>>8;
+                                       TWI_ACK;
+                                       break;
+                               case 0x3F: // angle LSB
+                                       TWDR = angle.i;
+                                       TWI_ACK;
+                                       break;
+                               case 0x40: // Position x MSB
+                                       TWDR = pos_x.i>>24;
+                                       TWI_ACK;
+                                       break;
+                               case 0x41: // Position x
+                                       TWDR = pos_x.i>>16;
+                                       TWI_ACK;
+                                       break;
+                               case 0x42: // Position x
+                                       TWDR = pos_x.i>>8;
+                                       TWI_ACK;
+                                       break;
+                               case 0x43: // Position x LSB
+                                       TWDR = pos_x.i;
+                                       TWI_ACK;
+                                       break;
+                               case 0x44: // Position y MSB
+                                       TWDR = pos_y.i>>24;
+                                       TWI_ACK;
+                                       break;
+                               case 0x45: // Position y
+                                       TWDR = pos_y.i>>16;
+                                       TWI_ACK;
+                                       break;
+                               case 0x46: // Position y
+                                       TWDR = pos_y.i>>8;
+                                       TWI_ACK;
+                                       break;
+                               case 0x47: // Position y LSB
+                                       TWDR = pos_y.i;
+                                       TWI_ACK;
+                                       break;
+                               case 0x48: // Position angle MSB
+                                       TWDR = angle.i>>24;
+                                       TWI_ACK;
+                                       break;
+                               case 0x49: // Position angle
+                                       TWDR = angle.i>>16;
+                                       TWI_ACK;
+                                       break;
+                               case 0x4A: // Position angle
+                                       TWDR = angle.i>>8;
+                                       TWI_ACK;
+                                       break;
+                               case 0x4B: // Position angle LSB
+                                       TWDR = angle.i;
+                                       TWI_ACK;
+                                       break;
+                               case 0xA0: // Reset reason
+                                       TWDR = MCUCSR & 0x0f;
+                                       MCUCSR = 0x0;
+                                       TWI_ACK;
+                                       break;
+                               case 0xA1: // Error status
+                                       TWDR = error_state;
+                                       TWI_ACK;
+                                       break;
+                               case 0xA2: // count test
+                                       TWDR = count_test;
+                                       TWI_ACK;
                                default:
                                        TWDR = 0;
                                        TWI_NAK;
@@ -319,7 +625,7 @@ static void update_hall1(void) {
 
 
 static void update_hall2(void) {
-       unsigned char status = (PINA >> 2) & 0x3;
+       unsigned char status = (PINA >> 4) & 0x3;
        static unsigned char oldstatus=0;
        unsigned char diff, new;
 
@@ -331,14 +637,14 @@ static void update_hall2(void) {
        diff = oldstatus - new;                         // difference last - new
        if (diff & 0x1) {                               // bit 0 = value (1)
                oldstatus = new;                                        // store new as next last
-               if (motor2_switch) pos2 += (diff & 2) - 1;              // bit 1 = direction (+/-)
-               else pos2 -= (diff & 2) - 1;
+               if (motor2_switch) pos2 -= (diff & 2) - 1;              // bit 1 = direction (+/-)
+               else pos2 += (diff & 2) - 1;
        }
 }
 
 
 static void update_hall3(void) {
-       unsigned char status = (PINA >> 4) & 0x3;
+       unsigned char status = (PINA >> 2) & 0x3;
        static unsigned char oldstatus=0;
        unsigned char diff, new;
 
@@ -350,8 +656,8 @@ static void update_hall3(void) {
        diff = oldstatus - new;                         // difference last - new
        if (diff & 0x1) {                               // bit 0 = value (1)
                oldstatus = new;                                        // store new as next last
-               if (motor3_switch) pos3 += (diff & 2) - 1;              // bit 1 = direction (+/-)
-               else pos3 -= (diff & 2) - 1;
+               if (motor3_switch) pos3 -= (diff & 2) - 1;              // bit 1 = direction (+/-)
+               else pos3 += (diff & 2) - 1;
        }
 }
 
@@ -381,17 +687,25 @@ static void update_motor(void) {
        static int16_t m3_old=SHRT_MIN;
        static int16_t m4_old=SHRT_MIN;
 
+       error_state &= 0xf0; // clear lower bits
+       error_state |= ~((PIND & 0x40)>>3 | (PINB & 0x07)) & 0xf;
+
        if (m1_old != motor1) { // update only when changed
                if (motor1 == 0) {
                        // stop
-                       PORTC |= (1 << 3) | (1 << 2);
+                       PORTC &= ~(1 << 3) & ~(1 << 2);
                } else if ((!motor1_switch && motor1 > 0) || (motor1_switch && motor1 < 0)) {
                        // forward
-                       PORTC &= ~(1 << 3) & ~(1 << 2);
+                       uint8_t tmp=PORTC;
+                       tmp &= ~(1 << 3);
+                       tmp |=  (1 << 2);
+                       PORTC = tmp;
                } else { // motor1 < 0
                        // backward
-                       PORTC &= ~(1 << 2);
-                       PORTC |=  (1 << 3);
+                       uint8_t tmp=PORTC;
+                       tmp &= ~(1 << 2);
+                       tmp |=  (1 << 3);
+                       PORTC = tmp;
                }
 
                m1_old = motor1;
@@ -401,14 +715,19 @@ static void update_motor(void) {
        if (m2_old != motor2) { // update only when changed
                if (motor2 == 0) {
                        // stop
-                       PORTC |= (1 << 5) | (1 << 4);
+                       PORTC &= ~(1 << 5) & ~(1 << 4);
                } else if ((!motor2_switch && motor2 > 0) || (motor2_switch && motor2 < 0)) {
                        // forward
-                       PORTC &= ~(1 << 5) & ~(1 << 4);
+                       uint8_t tmp=PORTC;
+                       tmp &= ~(1 << 5);
+                       tmp |=  (1 << 4);
+                       PORTC = tmp;
                } else { // motor2 < 0
                        // backward
-                       PORTC &= ~(1 << 4);
-                       PORTC |=  (1 << 5);
+                       uint8_t tmp=PORTC;
+                       tmp &= ~(1 << 4);
+                       tmp |=  (1 << 5);
+                       PORTC = tmp;
                }
 
                m2_old = motor2;
@@ -418,14 +737,19 @@ static void update_motor(void) {
        if (m3_old != motor3) { // update only when changed
                if (motor3 == 0) {
                        // stop
-                       PORTC |= (1 << 7) | (1 << 6);
+                       PORTC &= ~(1 << 7) & ~(1 << 6);
                } else if ((!motor3_switch && motor3 > 0) || (motor3_switch && motor3 < 0)) {
                        // forward
-                       PORTC &= ~(1 << 7) & ~(1 << 6);
+                       uint8_t tmp=PORTC;
+                       tmp &= ~(1 << 7);
+                       tmp |=  (1 << 6);
+                       PORTC = tmp;
                } else { // motor3 < 0
                        // backward
-                       PORTC &= ~(1 << 6);
-                       PORTC |=  (1 << 7);
+                       uint8_t tmp=PORTC;
+                       tmp &= ~(1 << 6);
+                       tmp |=  (1 << 7);
+                       PORTC = tmp;
                }
 
                m3_old = motor3;
@@ -435,14 +759,19 @@ static void update_motor(void) {
        if (m4_old != motor4) { // update only when changed
                if (motor4 == 0) {
                        // stop
-                       PORTD |= (1 << 3) | (1 << 2);
+                       PORTD &= ~(1 << 3) & ~(1 << 2);
                } else if ((!motor4_switch && motor4 > 0) || (motor4_switch && motor4 < 0)) {
                        // forward
-                       PORTD &= ~(1 << 3) & ~(1 << 2);
+                       uint8_t tmp=PORTD;
+                       tmp &= ~(1 << 3);
+                       tmp |=  (1 << 2);
+                       PORTD = tmp;
                } else { // motor4 < 0
                        // backward
-                       PORTD &= ~(1 << 2);
-                       PORTD |=  (1 << 3);
+                       uint8_t tmp=PORTD;
+                       tmp &= ~(1 << 2);
+                       tmp |=  (1 << 3);
+                       PORTD = tmp;
                }
 
                m4_old = motor4;
@@ -451,11 +780,75 @@ static void update_motor(void) {
 }
 
 
-void update_pid(void) {
+static void update_pos(void) {
        static int16_t pos1_last=0;
        static int16_t pos2_last=0;
        static int16_t pos3_last=0;
        static int16_t pos4_last=0;
+       int16_t pos1_diff; // steps
+       int16_t pos2_diff;
+       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;
+       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;
+
+       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;
+
+       translation = (diff_left_m + diff_right_m)/2.0;
+       pos_x_new = pos_x.f + cos(angle_new)*translation;
+       pos_y_new = pos_y.f + sin(angle_new)*translation;
+
+       tmp_speed_lin = translation/PID_T;
+       tmp_speed_rot = angle_diff/PID_T;
+
+       // 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;
+}
+
+
+static void update_pid(void) {
        static int16_t eold1=0;
        static int16_t eold2=0;
        static int16_t eold3=0;
@@ -465,73 +858,104 @@ void update_pid(void) {
        static int32_t esum3=0;
        static int32_t esum4=0;
 
-       if (motor1_mode == MOTOR_PID) {
-               speed1 = (pos1 - pos1_last)/TIMER0_T;
+       // protect motors from damage if stalling
+       if (labs(esum1) > 120000 && speed1 == 0) {
+               motor1 = 0;
+               motor1_mode = MOTOR_MANUAL;
+               error_state |= (1<<4);
+               esum1 = 0;
+       }       
+       if (labs(esum2) > 120000 && speed2 == 0) {
+               motor2 = 0;
+               motor2_mode = MOTOR_MANUAL;
+               error_state |= (1<<5);
+               esum2 = 0;
+       }       
+       if (labs(esum3) > 120000 && speed3 == 0) {
+               motor3 = 0;
+               motor3_mode = MOTOR_MANUAL;
+               error_state |= (1<<6);
+               esum3 = 0;
+       }       
+       // protect motors from damage if stalling
+       if (labs(esum4) > 120000 && speed4 == 0) {
+               motor4 = 0;
+               motor4_mode = MOTOR_MANUAL;
+               error_state |= (1<<7);
+               esum4 = 0;
+       }       
 
+       if (motor1_mode == MOTOR_PID) {
                if (speed1_wish == 0) {
                        motor1 = 0;
+                       eold1 = 0;
+                       esum1 = 0;
+                       error_state &= ~(1<<4);
                } else {
                        int16_t e = speed1_wish - speed1;
                        esum1+=e;
-                       motor1 += KP*e + KI*TIMER0_T*esum1 + KD/TIMER0_T*(e - eold1);
+                       motor1 = KP*e + KI*PID_T*esum1 + KD/PID_T*(e - eold1);
                        eold1 = e;
 
-                        if (motor1 > 255) motor1 = 255;
+                       if (motor1 > 0 && speed1_wish < 0) motor1=0;
+                       else if (motor1 < 0 && speed1_wish > 0) motor1=0;
+                       else if (motor1 > 255) motor1 = 255;
                        else if (motor1 < -255) motor1 = -255;
                }
-
-               pos1_last = pos1;
        }
        if (motor2_mode == MOTOR_PID) {
-               speed2 = (pos2 - pos2_last)/TIMER0_T;
-
                if (speed2_wish == 0) {
                        motor2 = 0;
+                       eold2 = 0;
+                       esum2 = 0;
+                       error_state &= ~(1<<5);
                } else {
                        int16_t e = speed2_wish - speed2;
                        esum2+=e;
-                       motor2 += KP*e + KI*TIMER0_T*esum2 + KD/TIMER0_T*(e - eold2);
+                       motor2 = KP*e + KI*PID_T*esum2 + KD/PID_T*(e - eold2);
                        eold2 = e;
 
-                        if (motor2 > 255) motor2 = 255;
+                       if (motor2 > 0 && speed2_wish < 0) motor2=0;
+                       else if (motor2 < 0 && speed2_wish > 0) motor2=0;
+                       else if (motor2 > 255) motor2 = 255;
                        else if (motor2 < -255) motor2 = -255;
                }
-
-               pos2_last = pos2;
        }
        if (motor3_mode == MOTOR_PID) {
-               speed3 = (pos3 - pos3_last)/TIMER0_T;
-
                if (speed3_wish == 0) {
                        motor3 = 0;
+                       eold3 = 0;
+                       esum3 = 0;
+                       error_state &= ~(1<<6);
                } else {
                        int16_t e = speed3_wish - speed3;
                        esum3+=e;
-                       motor3 += KP*e + KI*TIMER0_T*esum3 + KD/TIMER0_T*(e - eold3);
+                       motor3 = KP*e + KI*PID_T*esum3 + KD/PID_T*(e - eold3);
                        eold3 = e;
 
-                        if (motor3 > 255) motor3 = 255;
+                       if (motor3 > 0 && speed3_wish < 0) motor3=0;
+                       else if (motor3 < 0 && speed3_wish > 0) motor3=0;
+                       else if (motor3 > 255) motor3 = 255;
                        else if (motor3 < -255) motor3 = -255;
                }
-
-               pos3_last = pos3;
        }
        if (motor4_mode == MOTOR_PID) {
-               speed4 = (pos4 - pos4_last)/TIMER0_T;
-
                if (speed4_wish == 0) {
                        motor4 = 0;
+                       eold4 = 0;
+                       esum4 = 0;
+                       error_state &= ~(1<<7);
                } else {
                        int16_t e = speed4_wish - speed4;
                        esum4+=e;
-                       motor4 += KP*e + KI*TIMER0_T*esum4 + KD/TIMER0_T*(e - eold4);
+                       motor4 = KP*e + KI*PID_T*esum4 + KD/PID_T*(e - eold4);
                        eold4 = e;
 
-                        if (motor4 > 255) motor4 = 255;
+                       if (motor4 > 0 && speed4_wish < 0) motor4=0;
+                       else if (motor4 < 0 && speed4_wish > 0) motor4=0;
+                       else if (motor4 > 255) motor4 = 255;
                        else if (motor4 < -255) motor4 = -255;
                }
-
-               pos4_last = pos4;
        }
 }
 
@@ -542,7 +966,7 @@ ISR(TIMER1_OVF_vect) {
        update_hall3();
        update_hall4();
        
-       run_pid++;
+       run_update++;
 }
 
 
@@ -551,6 +975,9 @@ 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 Diag/Enable
+       PORTB = (1 << 0) | (1 << 1) | (1 << 2);
+       PORTD = (1 << 6);
 
        bootloader = 0x00;
        setup_uart(9600);
@@ -561,23 +988,23 @@ int main(void) {
        TWI_RESET;
 
        // Motor 1 & 2
-       // Timer 1: Fast PWM inverting mode, Top=256 => 15.625kHz
+       // Timer 1: Fast PWM non-inverting mode, Top=255 => 15.625kHz
        // Prescaler=1
-       TCCR1A = (1 << COM1A1) | (1 << COM1B1) | (1 << COM1A0) | (1 << COM1B0) | (1 << WGM10);
+       TCCR1A = (1 << COM1A1) | (1 << COM1B1) | (1 << WGM10);
        TCCR1B = (1 << WGM12) | (1 << CS10);
        OCR1A = 0;
        OCR1B = 0;
 
        // Motor 3
-       // Timer 2: Fast PWM inverting mode, Top=256 => 15.625kHz
+       // Timer 2: Fast PWM non-inverting mode, Top=255
        // Prescaler=1
-       TCCR2 = (1 << WGM21) | (1 << WGM20) | (1 << COM21) | (1 << COM20) | (1 << CS20);
+       TCCR2 = (1 << WGM21) | (1 << WGM20) | (1 << COM21) | (1 << CS20);
        OCR2 = 0;
 
        // Motor 4
-       // Timer 0: Fast PWM inverting mode, Top=256 => 15.625kHz
+       // Timer 0: Fast PWM non-inverting mode, Top=255
        // Prescaler=1
-       TCCR0 = (1 << WGM01) | (1 << WGM00) | (1 << COM01) | (1 << COM00) | (1 << CS00);
+       TCCR0 = (1 << WGM01) | (1 << WGM00) | (1 << COM01) | (1 << CS00);
        OCR0 = 0;
 
        printf("\r\nStart\r\n");
@@ -599,14 +1026,51 @@ int main(void) {
                                }
                                break;
                }
-               
 
-               if (run_pid >= 781) { // ~20Hz
-                       run_pid=0;
-                       update_pid();
+               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*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 (aft_handicap > 0) {
+                               speed1_wish = speed_wish_left * (100-aft_handicap)/100.0;
+                               speed3_wish = speed_wish_right * (100-aft_handicap)/100.0;
+                       } else {
+                               speed1_wish = speed_wish_left;
+                               speed3_wish = speed_wish_right;
+                       }
+                       if (front_handicap > 0) {
+                               speed2_wish = speed_wish_left * (100-front_handicap)/100.0;
+                               speed4_wish = speed_wish_right * (100-front_handicap)/100.0;
+                       } else {
+                               speed2_wish = speed_wish_left;
+                               speed4_wish = speed_wish_right;
+                       }
+                       motor1_mode = MOTOR_PID;
+                       motor2_mode = MOTOR_PID;
+                       motor3_mode = MOTOR_PID;
+                       motor4_mode = MOTOR_PID;
                }
 
-               update_motor();
+               if (run_update >= 156) { // ~100Hz
+                       run_update=0;
+
+                       update_pos();
+                       update_pid();
+                       update_motor();
+                       count_test++;
+               }
 
                sleep_mode();
        }