motor_ctrl: pid tuning

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

diff --git a/avr/motor_ctrl/main.c b/avr/motor_ctrl/main.c
index 72c0659ce3490b03e64d4a9fddfd1bccf67655a7..5c6a667f28449ca59c3ec96890a8726343a1333e 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
  * 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)
  * 0x40 Position x (m) MSB
  * 0x41 Position x (m)
  * 0x42 Position x (m)


@@ -87,7 +86,12 @@
  * 0x91 Motor 2 switch
  * 0x92 Motor 3 switch
  * 0x93 Motor 4 switch
  * 0x91 Motor 2 switch
  * 0x92 Motor 3 switch
  * 0x93 Motor 4 switch

- * 0x94 TLE Error status
+ * 0x94 Front Handicap
+ * 0x95 Aft Handicap
+ * free
+ * 0xA0 Reset reason
+ * 0xA1 Error status
+ * 0xA2 count test

  * free
  * 0xff Bootloader
  */
  * free
  * 0xff Bootloader
  */


@@ -97,12 +101,15 @@
 #define TWI_RESET      TWCR &= ~((1 << TWSTO) | (1 << TWEN)); TWI_ACK
 #define TWI_NAK                TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE)
 
 #define TWI_RESET      TWCR &= ~((1 << TWSTO) | (1 << TWEN)); TWI_ACK
 #define TWI_NAK                TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE)
 

-#define KP 0.009
-#define KI 0.051429
-#define KD 0.000378
+#define KP 0.025
+#define KI 2.3
+#define KD 0.0

 #define PID_T 0.01
 #define PID_T 0.01

-#define STEP_PER_M 3376.1 // wheel diameter=12cm, encoder=48cpr, gear ratio=1:34
-#define WHEEL_DIST 0.252
+// 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,
 
 enum mode {
        MOTOR_MANUAL,


@@ -134,15 +141,15 @@ 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 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; // 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 uint8_t motor3_switch=0;
 static volatile uint8_t motor4_switch=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_update=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 speed1=0; // step/s
 static volatile int16_t speed2=0;
 static volatile int16_t speed3=0;


@@ -152,6 +159,10 @@ 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 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)
 {
 
 ISR(TWI_vect)
 {


@@ -259,8 +270,8 @@ ISR(TWI_vect)
                                        break;
                                case 0x2B: // Left speed wish LSB
                                        tmp_speed.i = tmp_speed.i << 8 | TWDR;
                                        break;
                                case 0x2B: // Left speed wish LSB
                                        tmp_speed.i = tmp_speed.i << 8 | TWDR;

-                                       speed1_wish = tmp_speed.f*STEP_PER_M;
-                                       speed2_wish = tmp_speed.f*STEP_PER_M;
+                                       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;
                                        motor1_mode = MOTOR_PID;
                                        motor2_mode = MOTOR_PID;
                                        TWI_ACK;


@@ -279,8 +290,8 @@ ISR(TWI_vect)
                                        break;
                                case 0x2F: // Right speed wish LSB
                                        tmp_speed.i = tmp_speed.i << 8 | TWDR;
                                        break;
                                case 0x2F: // Right speed wish LSB
                                        tmp_speed.i = tmp_speed.i << 8 | TWDR;

-                                       speed1_wish = tmp_speed.f*STEP_PER_M;
-                                       speed2_wish = tmp_speed.f*STEP_PER_M;
+                                       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;
                                        motor1_mode = MOTOR_PID;
                                        motor2_mode = MOTOR_PID;
                                        TWI_ACK;


@@ -336,6 +347,16 @@ ISR(TWI_vect)
                                        motor4_switch = TWDR;
                                        TWI_ACK;
                                        break;
                                        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:
                                case 0xff: // bootloader
                                        bootloader = TWDR;
                                default:


@@ -350,18 +371,34 @@ ISR(TWI_vect)
                                        TWDR = OCR1A;
                                        TWI_ACK;
                                        break;
                                        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 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 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 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;
                                case 0x10: // Hall 1 MSB
                                        tmp16 = pos1;
                                        TWDR = tmp16>>8;


@@ -529,25 +566,33 @@ ISR(TWI_vect)
                                        TWI_ACK;
                                        break;
                                case 0x48: // Position angle MSB
                                        TWI_ACK;
                                        break;
                                case 0x48: // Position angle MSB

-                                       TWDR = pos_y.i>>24;
+                                       TWDR = angle.i>>24;

                                        TWI_ACK;
                                        break;
                                case 0x49: // Position angle
                                        TWI_ACK;
                                        break;
                                case 0x49: // Position angle

-                                       TWDR = pos_y.i>>16;
+                                       TWDR = angle.i>>16;

                                        TWI_ACK;
                                        break;
                                case 0x4A: // Position angle
                                        TWI_ACK;
                                        break;
                                case 0x4A: // Position angle

-                                       TWDR = pos_y.i>>8;
+                                       TWDR = angle.i>>8;

                                        TWI_ACK;
                                        break;
                                case 0x4B: // Position angle LSB
                                        TWI_ACK;
                                        break;
                                case 0x4B: // Position angle LSB

-                                       TWDR = pos_y.i;
+                                       TWDR = angle.i;
+                                       TWI_ACK;
+                                       break;
+                               case 0xA0: // Reset reason
+                                       TWDR = MCUCSR & 0x0f;
+                                       MCUCSR = 0x0;

                                        TWI_ACK;
                                        break;
                                        TWI_ACK;
                                        break;

-                               case 0x94: // TLE Error status
-                                       TWDR = ~((PIND & 0x40)>>3 | (PINB & 0x07)) & 0xf;
+                               case 0xA1: // Error status
+                                       TWDR = error_state;

                                        TWI_ACK;
                                        break;
                                        TWI_ACK;
                                        break;

+                               case 0xA2: // count test
+                                       TWDR = count_test;
+                                       TWI_ACK;

                                default:
                                        TWDR = 0;
                                        TWI_NAK;
                                default:
                                        TWDR = 0;
                                        TWI_NAK;


@@ -642,17 +687,24 @@ 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;
+

        if (m1_old != motor1) { // update only when changed
                if (motor1 == 0) {
                        // stop
        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
                } 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
                } 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;
                }
 
                m1_old = motor1;


@@ -662,14 +714,19 @@ static void update_motor(void) {
        if (m2_old != motor2) { // update only when changed
                if (motor2 == 0) {
                        // stop
        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
                } 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
                } 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;
                }
 
                m2_old = motor2;


@@ -679,14 +736,19 @@ static void update_motor(void) {
        if (m3_old != motor3) { // update only when changed
                if (motor3 == 0) {
                        // stop
        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
                } 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
                } 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;
                }
 
                m3_old = motor3;


@@ -696,14 +758,19 @@ static void update_motor(void) {
        if (m4_old != motor4) { // update only when changed
                if (motor4 == 0) {
                        // stop
        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
                } 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
                } 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;
                }
 
                m4_old = motor4;


@@ -722,53 +789,64 @@ static void update_pos(void) {
        int16_t pos3_diff;
        int16_t pos4_diff;
        float diff_left_m, diff_right_m, angle_diff, translation;
        int16_t pos3_diff;
        int16_t pos4_diff;
        float diff_left_m, diff_right_m, angle_diff, translation;

-       float pos_x_diff, pos_y_diff, angle_new;
+       float pos_x_new, pos_y_new, angle_new;

        int16_t speed_l, speed_r;
        float tmp_speed_lin, tmp_speed_rot;
        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;

 
 

+       // copy to tmp

        cli();
        cli();

-       pos1_diff = pos1 - pos1_last;
-       pos2_diff = pos2 - pos2_last;
-       pos3_diff = pos3 - pos3_last;
-       pos4_diff = pos4 - pos4_last;
-       speed1 = pos1_diff/PID_T;
-       speed2 = pos2_diff/PID_T;
-       speed3 = pos3_diff/PID_T;
-       speed4 = pos4_diff/PID_T;
+       cur_pos1 = pos1;
+       cur_pos2 = pos2;
+       cur_pos3 = pos3;
+       cur_pos4 = pos4;

        sei();
 
        sei();
 

-       diff_left_m = (pos1_diff + pos2_diff)/(2*STEP_PER_M);
-       diff_right_m = (pos3_diff + pos4_diff)/(2*STEP_PER_M);
+       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;
        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;
+       else if (angle_new < -2*M_PI) angle_new+=2*M_PI;

 
        translation = (diff_left_m + diff_right_m)/2.0;
 
        translation = (diff_left_m + diff_right_m)/2.0;

-       pos_x_diff = cos(angle_new)*translation;
-       pos_y_diff = sin(angle_new)*translation;
-       
-       cli();
-       angle.f = angle_new;
-       pos_x.f += pos_x_diff;
-       pos_y.f += pos_y_diff;
-       sei();
+       pos_x_new = pos_x.f + cos(angle_new)*translation;
+       pos_y_new = pos_y.f + sin(angle_new)*translation;

 
 

-       speed_l = (speed1+speed2)/2;
-       speed_r = (speed3+speed4)/2;
-       tmp_speed_lin = (speed_l + speed_r)/(2.0*STEP_PER_M);
-       tmp_speed_rot = (speed_r - speed_l)/(M_PI*WHEEL_DIST*STEP_PER_M);
+       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);

 
 

+       // copy from tmp

        cli();
        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();
 
        cur_speed_lin = tmp_speed_lin;
        cur_speed_rot = tmp_speed_rot;
        sei();
 

-       pos1_last = pos1;
-       pos2_last = pos2;
-       pos3_last = pos3;
-       pos4_last = pos4;
+       pos1_last = cur_pos1;
+       pos2_last = cur_pos2;
+       pos3_last = cur_pos3;
+       pos4_last = cur_pos4;

 }
 
 
 }
 
 


@@ -790,7 +868,7 @@ static void update_pid(void) {
                } else {
                        int16_t e = speed1_wish - speed1;
                        esum1+=e;
                } else {
                        int16_t e = speed1_wish - speed1;
                        esum1+=e;

-                       motor1 += KP*e + KI*PID_T*esum1 + KD/PID_T*(e - eold1);
+                       motor1 = KP*e + KI*PID_T*esum1 + KD/PID_T*(e - eold1);

                        eold1 = e;
 
                         if (motor1 > 255) motor1 = 255;
                        eold1 = e;
 
                         if (motor1 > 255) motor1 = 255;


@@ -805,7 +883,7 @@ static void update_pid(void) {
                } else {
                        int16_t e = speed2_wish - speed2;
                        esum2+=e;
                } else {
                        int16_t e = speed2_wish - speed2;
                        esum2+=e;

-                       motor2 += KP*e + KI*PID_T*esum2 + KD/PID_T*(e - eold2);
+                       motor2 = KP*e + KI*PID_T*esum2 + KD/PID_T*(e - eold2);

                        eold2 = e;
 
                         if (motor2 > 255) motor2 = 255;
                        eold2 = e;
 
                         if (motor2 > 255) motor2 = 255;


@@ -820,7 +898,7 @@ static void update_pid(void) {
                } else {
                        int16_t e = speed3_wish - speed3;
                        esum3+=e;
                } else {
                        int16_t e = speed3_wish - speed3;
                        esum3+=e;

-                       motor3 += KP*e + KI*PID_T*esum3 + KD/PID_T*(e - eold3);
+                       motor3 = KP*e + KI*PID_T*esum3 + KD/PID_T*(e - eold3);

                        eold3 = e;
 
                         if (motor3 > 255) motor3 = 255;
                        eold3 = e;
 
                         if (motor3 > 255) motor3 = 255;


@@ -835,7 +913,7 @@ static void update_pid(void) {
                } else {
                        int16_t e = speed4_wish - speed4;
                        esum4+=e;
                } else {
                        int16_t e = speed4_wish - speed4;
                        esum4+=e;

-                       motor4 += KP*e + KI*PID_T*esum4 + KD/PID_T*(e - eold4);
+                       motor4 = KP*e + KI*PID_T*esum4 + KD/PID_T*(e - eold4);

                        eold4 = e;
 
                         if (motor4 > 255) motor4 = 255;
                        eold4 = e;
 
                         if (motor4 > 255) motor4 = 255;


@@ -860,6 +938,9 @@ 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);
        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);
 
        bootloader = 0x00;
        setup_uart(9600);


@@ -870,23 +951,23 @@ int main(void) {
        TWI_RESET;
 
        // Motor 1 & 2
        TWI_RESET;
 
        // Motor 1 & 2

-       // Timer 1: Fast PWM inverting mode, Top=256 => 31.25kHz
+       // Timer 1: Fast PWM non-inverting mode, Top=255 => 15.625kHz

        // Prescaler=1
        // 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
        TCCR1B = (1 << WGM12) | (1 << CS10);
        OCR1A = 0;
        OCR1B = 0;
 
        // Motor 3

-       // Timer 2: Fast PWM inverting mode, Top=256
+       // Timer 2: Fast PWM non-inverting mode, Top=255

        // Prescaler=1
        // 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
        OCR2 = 0;
 
        // Motor 4

-       // Timer 0: Fast PWM inverting mode, Top=256
+       // Timer 0: Fast PWM non-inverting mode, Top=255

        // Prescaler=1
        // 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");
        OCR0 = 0;
 
        printf("\r\nStart\r\n");


@@ -910,29 +991,48 @@ int main(void) {
                }
 
                if (cmd_vel.bUpdate) {
                }
 
                if (cmd_vel.bUpdate) {

-                       float speed_wish_right = cmd_vel.angle*M_PI*WHEEL_DIST/2 + cmd_vel.speed;
-                       float speed_wish_left = cmd_vel.speed*2-speed_wish_right;
+                       float speed_wish_right, speed_wish_left;
+                       float speed, angle;

 
 

+                       cli();
+                       speed = cmd_vel.speed;
+                       angle = cmd_vel.angle;

                        cmd_vel.bUpdate = 0;
                        cmd_vel.bUpdate = 0;

-                       speed_wish_left*=STEP_PER_M;
-                       speed_wish_right*=STEP_PER_M;
+                       sei();
+
+                       speed_wish_right = angle*M_PI*WHEEL_DIST/2 + speed;
+                       speed_wish_left = speed*2-speed_wish_right;

 
 

-                       speed1_wish = speed_wish_left;
-                       speed2_wish = speed_wish_left;
-                       speed3_wish = speed_wish_right;
-                       speed4_wish = 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;
+                               speed4_wish = speed_wish_right * (100-aft_handicap)/100.0;
+                       } else {
+                               speed1_wish = speed_wish_left;
+                               speed4_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;
+                       } else {
+                               speed2_wish = speed_wish_left;
+                               speed3_wish = speed_wish_right;
+                       }

                        motor1_mode = MOTOR_PID;
                        motor2_mode = MOTOR_PID;
                        motor3_mode = MOTOR_PID;
                        motor4_mode = MOTOR_PID;
                }
 
                        motor1_mode = MOTOR_PID;
                        motor2_mode = MOTOR_PID;
                        motor3_mode = MOTOR_PID;
                        motor4_mode = MOTOR_PID;
                }
 

-               if (run_update >= 312) { // ~100Hz
+               if (run_update >= 156) { // ~100Hz

                        run_update=0;
 
                        update_pos();
                        update_pid();
                        update_motor();
                        run_update=0;
 
                        update_pos();
                        update_pid();
                        update_motor();

+                       count_test++;

                }
 
                sleep_mode();
                }
 
                sleep_mode();