Set sonar angle to 5° degree
[ros_wild_thumper.git] / avr / motor_ctrl / main.c
index 576d57c..5d65529 100644 (file)
  */
 
 
-#define TWI_ACK                TWCR = (1<<TWEA) | (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 0.039
-#define KI 0.08
+#define KP 0.09
+#define KI 0.07
 #define KD 0.0
 #define PID_T 0.01
-// 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
+// wheel diameter=12cm, encoder=48cpr, gear ratio=1:47
+// STEP_PER_M = 48*47/(d*pi)
+// Left real diameter: 0.12808, Right real diameter: 0.121
+#define STEP_PER_M 5770.8
+#define STEP_PER_M_LEFT (STEP_PER_M)
+#define STEP_PER_M_RIGHT (STEP_PER_M)
+#define WHEEL_DIST 0.39912 // Measured: 0.252
+#define PWM_BREAK INT16_MIN
+#define STALL_LIMIT 140000
+
+#define TWI_ACK   TWCR = (1<<TWEA) | (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 ENABLE_PWM_MOTOR1  TCCR1A |=  (1 << COM1A1)
+#define ENABLE_PWM_MOTOR2  TCCR1A |=  (1 << COM1B1)
+#define ENABLE_PWM_MOTOR3  TCCR2  |=  (1 << COM21);
+#define ENABLE_PWM_MOTOR4  TCCR0  |=  (1 << COM01);
+#define DISABLE_PWM_MOTOR1 TCCR1A &= ~(1 << COM1A1)
+#define DISABLE_PWM_MOTOR2 TCCR1A &= ~(1 << COM1B1)
+#define DISABLE_PWM_MOTOR3 TCCR2  &= ~(1 << COM21);
+#define DISABLE_PWM_MOTOR4 TCCR0  &= ~(1 << COM01);
+
 
 enum mode {
        MOTOR_MANUAL,
@@ -149,6 +162,10 @@ 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 int16_t speed1_wish_old=0;
+static volatile int16_t speed2_wish_old=0;
+static volatile int16_t speed3_wish_old=0;
+static volatile int16_t speed4_wish_old=0;
 static volatile uint8_t run_update=0;
 static volatile int16_t speed1=0; // step/s
 static volatile int16_t speed2=0;
@@ -687,24 +704,31 @@ static void update_motor(void) {
        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) {
                        // stop
                        PORTC &= ~(1 << 3) & ~(1 << 2);
+                       DISABLE_PWM_MOTOR1;
+               } else if (motor1 == PWM_BREAK) {
+                       PORTC |= (1 << 3) | (1 << 2);
+                       ENABLE_PWM_MOTOR1;
                } else if ((!motor1_switch && motor1 > 0) || (motor1_switch && motor1 < 0)) {
                        // forward
                        uint8_t tmp=PORTC;
                        tmp &= ~(1 << 3);
                        tmp |=  (1 << 2);
                        PORTC = tmp;
+                       ENABLE_PWM_MOTOR1;
                } else { // motor1 < 0
                        // backward
                        uint8_t tmp=PORTC;
                        tmp &= ~(1 << 2);
                        tmp |=  (1 << 3);
                        PORTC = tmp;
+                       ENABLE_PWM_MOTOR1;
                }
 
                m1_old = motor1;
@@ -715,18 +739,24 @@ static void update_motor(void) {
                if (motor2 == 0) {
                        // stop
                        PORTC &= ~(1 << 5) & ~(1 << 4);
+                       DISABLE_PWM_MOTOR2;
+               } else if (motor2 == PWM_BREAK) {
+                       PORTC |= (1 << 5) | (1 << 4);
+                       ENABLE_PWM_MOTOR2;
                } else if ((!motor2_switch && motor2 > 0) || (motor2_switch && motor2 < 0)) {
                        // forward
                        uint8_t tmp=PORTC;
                        tmp &= ~(1 << 5);
                        tmp |=  (1 << 4);
                        PORTC = tmp;
+                       ENABLE_PWM_MOTOR2;
                } else { // motor2 < 0
                        // backward
                        uint8_t tmp=PORTC;
                        tmp &= ~(1 << 4);
                        tmp |=  (1 << 5);
                        PORTC = tmp;
+                       ENABLE_PWM_MOTOR2;
                }
 
                m2_old = motor2;
@@ -737,18 +767,24 @@ static void update_motor(void) {
                if (motor3 == 0) {
                        // stop
                        PORTC &= ~(1 << 7) & ~(1 << 6);
+                       DISABLE_PWM_MOTOR3;
+               } else if (motor3 == PWM_BREAK) {
+                       PORTC |= (1 << 7) | (1 << 6);
+                       ENABLE_PWM_MOTOR3;
                } else if ((!motor3_switch && motor3 > 0) || (motor3_switch && motor3 < 0)) {
                        // forward
                        uint8_t tmp=PORTC;
                        tmp &= ~(1 << 7);
                        tmp |=  (1 << 6);
                        PORTC = tmp;
+                       ENABLE_PWM_MOTOR3;
                } else { // motor3 < 0
                        // backward
                        uint8_t tmp=PORTC;
                        tmp &= ~(1 << 6);
                        tmp |=  (1 << 7);
                        PORTC = tmp;
+                       ENABLE_PWM_MOTOR3;
                }
 
                m3_old = motor3;
@@ -759,18 +795,24 @@ static void update_motor(void) {
                if (motor4 == 0) {
                        // stop
                        PORTD &= ~(1 << 3) & ~(1 << 2);
+                       DISABLE_PWM_MOTOR4;
+               } else if (motor4 == PWM_BREAK) {
+                       PORTD |= (1 << 3) | (1 << 2);
+                       ENABLE_PWM_MOTOR4;
                } else if ((!motor4_switch && motor4 > 0) || (motor4_switch && motor4 < 0)) {
                        // forward
                        uint8_t tmp=PORTD;
                        tmp &= ~(1 << 3);
                        tmp |=  (1 << 2);
                        PORTD = tmp;
+                       ENABLE_PWM_MOTOR4;
                } else { // motor4 < 0
                        // backward
                        uint8_t tmp=PORTD;
                        tmp &= ~(1 << 2);
                        tmp |=  (1 << 3);
                        PORTD = tmp;
+                       ENABLE_PWM_MOTOR4;
                }
 
                m4_old = motor4;
@@ -857,70 +899,116 @@ static void update_pid(void) {
        static int32_t esum3=0;
        static int32_t esum4=0;
 
+       // protect motors from damage if stalling
+       if (labs(esum1) > STALL_LIMIT && speed1 == 0) {
+               motor1 = 0;
+               motor1_mode = MOTOR_MANUAL;
+               error_state |= (1<<4);
+               esum1 = 0;
+       }       
+       if (labs(esum2) > STALL_LIMIT && speed2 == 0) {
+               motor2 = 0;
+               motor2_mode = MOTOR_MANUAL;
+               error_state |= (1<<5);
+               esum2 = 0;
+       }       
+       if (labs(esum3) > STALL_LIMIT && speed3 == 0) {
+               motor3 = 0;
+               motor3_mode = MOTOR_MANUAL;
+               error_state |= (1<<6);
+               esum3 = 0;
+       }       
+       if (labs(esum4) > STALL_LIMIT && speed4 == 0) {
+               motor4 = 0;
+               motor4_mode = MOTOR_MANUAL;
+               error_state |= (1<<7);
+               esum4 = 0;
+       }       
+
        if (motor1_mode == MOTOR_PID) {
+               if (speed1_wish != speed1_wish_old) {
+                       if (abs(speed1_wish - speed1_wish_old) > 500) esum1 = 0;
+                       speed1_wish_old = speed1_wish;
+               }
+
                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 > 0 && speed1_wish < 0) motor1=0;
-                       else if (motor1 < 0 && speed1_wish > 0) motor1=0;
+                       if (motor1 > 0 && speed1_wish < 0) motor1=PWM_BREAK;
+                       else if (motor1 < 0 && speed1_wish > 0) motor1=PWM_BREAK;
                        else if (motor1 > 255) motor1 = 255;
                        else if (motor1 < -255) motor1 = -255;
                }
        }
        if (motor2_mode == MOTOR_PID) {
+               if (speed2_wish != speed2_wish_old) {
+                       if (abs(speed2_wish - speed2_wish_old) > 500) esum2 = 0;
+                       speed2_wish_old = speed2_wish;
+               }
+
                if (speed2_wish == 0) {
                        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 > 0 && speed2_wish < 0) motor2=0;
-                       else if (motor2 < 0 && speed2_wish > 0) motor2=0;
+                       if (motor2 > 0 && speed2_wish < 0) motor2=PWM_BREAK;
+                       else if (motor2 < 0 && speed2_wish > 0) motor2=PWM_BREAK;
                        else if (motor2 > 255) motor2 = 255;
                        else if (motor2 < -255) motor2 = -255;
                }
        }
        if (motor3_mode == MOTOR_PID) {
+               if (speed3_wish != speed3_wish_old) {
+                       if (abs(speed3_wish - speed3_wish_old) > 500) esum3 = 0;
+                       speed3_wish_old = speed3_wish;
+               }
+
                if (speed3_wish == 0) {
                        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 > 0 && speed3_wish < 0) motor3=0;
-                       else if (motor3 < 0 && speed3_wish > 0) motor3=0;
+                       if (motor3 > 0 && speed3_wish < 0) motor3=PWM_BREAK;
+                       else if (motor3 < 0 && speed3_wish > 0) motor3=PWM_BREAK;
                        else if (motor3 > 255) motor3 = 255;
                        else if (motor3 < -255) motor3 = -255;
                }
        }
        if (motor4_mode == MOTOR_PID) {
+               if (speed4_wish != speed4_wish_old) {
+                       if (abs(speed4_wish - speed4_wish_old) > 500) esum4 = 0;
+                       speed4_wish_old = speed4_wish;
+               }
+
                if (speed4_wish == 0) {
                        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 > 0 && speed4_wish < 0) motor4=0;
-                       else if (motor4 < 0 && speed4_wish > 0) motor4=0;
+                       if (motor4 > 0 && speed4_wish < 0) motor4=PWM_BREAK;
+                       else if (motor4 < 0 && speed4_wish > 0) motor4=PWM_BREAK;
                        else if (motor4 > 255) motor4 = 255;
                        else if (motor4 < -255) motor4 = -255;
                }
@@ -956,9 +1044,12 @@ int main(void) {
        TWI_RESET;
 
        // Motor 1 & 2
-       // Timer 1: Fast PWM non-inverting mode, Top=255 => 15.625kHz
+       // Also used for PWM frequency TIMER1_FREQ (F_CPU/256)
+       // Timer 1: Fast PWM non-inverting mode, Top=255 => 19.531kHz
        // Prescaler=1
-       TCCR1A = (1 << COM1A1) | (1 << COM1B1) | (1 << WGM10);
+       //TCCR1A = (1 << COM1A1) | (1 << COM1B1) | (1 << WGM10);
+       // Avoid narrow spike on extreme pwm value 0 by not setting COM1*1
+       TCCR1A = (1 << WGM10);
        TCCR1B = (1 << WGM12) | (1 << CS10);
        OCR1A = 0;
        OCR1B = 0;
@@ -966,13 +1057,17 @@ int main(void) {
        // Motor 3
        // Timer 2: Fast PWM non-inverting mode, Top=255
        // Prescaler=1
-       TCCR2 = (1 << WGM21) | (1 << WGM20) | (1 << COM21) | (1 << CS20);
+       //TCCR2 = (1 << WGM21) | (1 << WGM20) | (1 << COM21) | (1 << CS20);
+       // Avoid narrow spike on extreme pwm value 0 by not setting COM21
+       TCCR2 = (1 << WGM21) | (1 << WGM20) | (1 << CS20);
        OCR2 = 0;
 
        // Motor 4
        // Timer 0: Fast PWM non-inverting mode, Top=255
        // Prescaler=1
-       TCCR0 = (1 << WGM01) | (1 << WGM00) | (1 << COM01) | (1 << CS00);
+       //TCCR0 = (1 << WGM01) | (1 << WGM00) | (1 << COM01) | (1 << CS00);
+       // Avoid narrow spike on extreme pwm value 0 by not setting COM01
+       TCCR0 = (1 << WGM01) | (1 << WGM00) | (1 << CS00);
        OCR0 = 0;
 
        printf("\r\nStart\r\n");
@@ -1013,17 +1108,17 @@ int main(void) {
 
                        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;
@@ -1031,7 +1126,7 @@ int main(void) {
                        motor4_mode = MOTOR_PID;
                }
 
-               if (run_update >= 156) { // ~100Hz
+               if (run_update >= 195) { // TIMER1_FREQ/195 = ~100Hz
                        run_update=0;
 
                        update_pos();