#define TWI_RESET TWCR &= ~((1 << TWSTO) | (1 << TWEN)); TWI_ACK
#define TWI_NAK TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE)
-#define KP 0.025
-#define KI 2.3
+#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
static ufloat_t tmp_angle;
switch (TWSR & 0xF8)
- {
+ {
case 0x60: // start write
TWI_ACK;
ireg = 0;
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) {
int16_t pos4_diff;
float diff_left_m, diff_right_m, angle_diff, translation;
float pos_x_new, pos_y_new, angle_new;
- int16_t speed_l, speed_r;
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;
pos_x_new = pos_x.f + cos(angle_new)*translation;
pos_y_new = pos_y.f + sin(angle_new)*translation;
- 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_AVG);
- tmp_speed_rot = (speed_r - speed_l)/(M_PI*WHEEL_DIST*STEP_PER_M_AVG);
+ tmp_speed_lin = translation/PID_T;
+ tmp_speed_rot = angle_diff/PID_T;
// copy from tmp
cli();
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;
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;
}
}
motor2 = 0;
eold2 = 0;
esum2 = 0;
+ error_state &= ~(1<<5);
} else {
int16_t e = speed2_wish - speed2;
esum2+=e;
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;
}
}
motor3 = 0;
eold3 = 0;
esum3 = 0;
+ error_state &= ~(1<<6);
} else {
int16_t e = speed3_wish - speed3;
esum3+=e;
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;
}
}
motor4 = 0;
eold4 = 0;
esum4 = 0;
+ error_state &= ~(1<<7);
} else {
int16_t e = speed4_wish - speed4;
esum4+=e;
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;
}
}
cmd_vel.bUpdate = 0;
sei();
- speed_wish_right = angle*M_PI*WHEEL_DIST/2 + speed;
+ speed_wish_right = (angle*WHEEL_DIST)/2 + speed;
speed_wish_left = speed*2-speed_wish_right;
speed_wish_left*=STEP_PER_M_LEFT;
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;