static int16_t m3_old=SHRT_MIN;
static int16_t m4_old=SHRT_MIN;
- error_state = ~((PIND & 0x40)>>3 | (PINB & 0x07)) & 0xf;
+ 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) {
static int32_t esum3=0;
static int32_t esum4=0;
+ // 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;
motor2 = 0;
eold2 = 0;
esum2 = 0;
+ error_state &= ~(1<<5);
} else {
int16_t e = speed2_wish - speed2;
esum2+=e;
motor3 = 0;
eold3 = 0;
esum3 = 0;
+ error_state &= ~(1<<6);
} else {
int16_t e = speed3_wish - speed3;
esum3+=e;
motor4 = 0;
eold4 = 0;
esum4 = 0;
+ error_state &= ~(1<<7);
} else {
int16_t e = speed4_wish - speed4;
esum4+=e;
if (aft_handicap > 0) {
speed1_wish = speed_wish_left * (100-aft_handicap)/100.0;
- speed4_wish = speed_wish_right * (100-aft_handicap)/100.0;
+ speed3_wish = speed_wish_right * (100-aft_handicap)/100.0;
} else {
speed1_wish = speed_wish_left;
- speed4_wish = speed_wish_right;
+ speed3_wish = speed_wish_right;
}
if (front_handicap > 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-front_handicap)/100.0;
} else {
speed2_wish = speed_wish_left;
- speed3_wish = speed_wish_right;
+ speed4_wish = speed_wish_right;
}
motor1_mode = MOTOR_PID;
motor2_mode = MOTOR_PID;