use esum to stop motor when stalling to avoid damage

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

diff --git a/avr/motor_ctrl/main.c b/avr/motor_ctrl/main.c
index 576d57c1c7d75d22b286f462f6c3618c57f61b3c..3dca8cc80bb9fa380d3e9f0d3689a31d28929b09 100644 (file)
--- a/avr/motor_ctrl/main.c
+++ b/avr/motor_ctrl/main.c
@@ -687,7 +687,8 @@ static void update_motor(void) {
        static int16_t m3_old=SHRT_MIN;
        static int16_t m4_old=SHRT_MIN;
 
        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) {
 
        if (m1_old != motor1) { // update only when changed
                if (motor1 == 0) {


@@ -857,11 +858,39 @@ static void update_pid(void) {
        static int32_t esum3=0;
        static int32_t esum4=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;
        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;
                } else {
                        int16_t e = speed1_wish - speed1;
                        esum1+=e;


@@ -879,6 +908,7 @@ static void update_pid(void) {
                        motor2 = 0;
                        eold2 = 0;
                        esum2 = 0;
                        motor2 = 0;
                        eold2 = 0;
                        esum2 = 0;

+                       error_state &= ~(1<<5);

                } else {
                        int16_t e = speed2_wish - speed2;
                        esum2+=e;
                } else {
                        int16_t e = speed2_wish - speed2;
                        esum2+=e;


@@ -896,6 +926,7 @@ static void update_pid(void) {
                        motor3 = 0;
                        eold3 = 0;
                        esum3 = 0;
                        motor3 = 0;
                        eold3 = 0;
                        esum3 = 0;

+                       error_state &= ~(1<<6);

                } else {
                        int16_t e = speed3_wish - speed3;
                        esum3+=e;
                } else {
                        int16_t e = speed3_wish - speed3;
                        esum3+=e;


@@ -913,6 +944,7 @@ static void update_pid(void) {
                        motor4 = 0;
                        eold4 = 0;
                        esum4 = 0;
                        motor4 = 0;
                        eold4 = 0;
                        esum4 = 0;

+                       error_state &= ~(1<<7);

                } else {
                        int16_t e = speed4_wish - speed4;
                        esum4+=e;
                } else {
                        int16_t e = speed4_wish - speed4;
                        esum4+=e;


@@ -1013,17 +1045,17 @@ int main(void) {
 
                        if (aft_handicap > 0) {
                                speed1_wish = speed_wish_left * (100-aft_handicap)/100.0;
 
                        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;
                        } 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;
                        }
                        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;
                        } else {
                                speed2_wish = speed_wish_left;

-                               speed3_wish = speed_wish_right;
+                               speed4_wish = speed_wish_right;

                        }
                        motor1_mode = MOTOR_PID;
                        motor2_mode = MOTOR_PID;
                        }
                        motor1_mode = MOTOR_PID;
                        motor2_mode = MOTOR_PID;