motor_ctrl: do handicap on both directions

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

diff --git a/avr/motor_ctrl/main.c b/avr/motor_ctrl/main.c
index 2ec14a12c6c26f2d581f9919a868765bb07e3527..479770a49e404a392faec9696ee555fdb76139e3 100644 (file)
--- a/avr/motor_ctrl/main.c
+++ b/avr/motor_ctrl/main.c
@@ -60,7 +60,6 @@
  * 0x3D Angle (rad/s)
  * 0x3E Angle (rad/s)
  * 0x3F Angle (rad/s) LSB
- * free
  * 0x40 Position x (m) MSB
  * 0x41 Position x (m)
  * 0x42 Position x (m)
@@ -87,8 +86,8 @@
  * 0x91 Motor 2 switch
  * 0x92 Motor 3 switch
  * 0x93 Motor 4 switch
- * 0x94 Front Handicap backward
- * 0x95 Aft Handicap forward
+ * 0x94 Front Handicap
+ * 0x95 Aft Handicap
  * free
  * 0xA0 Reset reason
  * 0xA1 TLE Error status
@@ -161,8 +160,8 @@ 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_bwd=0;
-static volatile uint8_t aft_handicap_fwd=0;
+static volatile uint8_t front_handicap=0;
+static volatile uint8_t aft_handicap=0;
 
 ISR(TWI_vect)
 {
@@ -347,13 +346,13 @@ ISR(TWI_vect)
                                        motor4_switch = TWDR;
                                        TWI_ACK;
                                        break;
-                               case 0x94: // Front Handicap backward
-                                       front_handicap_bwd = TWDR;
+                               case 0x94: // Front Handicap
+                                       front_handicap = TWDR;
                                        cmd_vel.bUpdate = 1;
                                        TWI_ACK;
                                        break;
-                               case 0x95: // Aft Handicap forward
-                                       aft_handicap_fwd = TWDR;
+                               case 0x95: // Aft Handicap
+                                       aft_handicap = TWDR;
                                        cmd_vel.bUpdate = 1;
                                        TWI_ACK;
                                        break;
@@ -968,26 +967,20 @@ int main(void) {
                        speed_wish_left*=STEP_PER_M_LEFT;
                        speed_wish_right*=STEP_PER_M_RIGHT;
 
-                       if (speed_wish_left > 0 && aft_handicap_fwd > 0) {
-                               speed1_wish = speed_wish_left * (100-aft_handicap_fwd)/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;
                        } else {
                                speed1_wish = speed_wish_left;
+                               speed4_wish = speed_wish_right;
                        }
-                       if (speed_wish_left < 0 && front_handicap_bwd > 0) {
-                               speed2_wish = speed_wish_left * (100-front_handicap_bwd)/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;
                        } 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;