Set sonar angle to 5° degree

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

diff --git a/avr/motor_ctrl/main.c b/avr/motor_ctrl/main.c
index a9565871f0058d7f2585f28ea5f2ca64b55694ca..5d655290a7e8b78cb3efd33b881eaf85fafd3bfe 100644 (file)
--- a/avr/motor_ctrl/main.c
+++ b/avr/motor_ctrl/main.c
@@ -97,8 +97,8 @@
  */
 
 
-#define KP 0.061
-#define KI 0.12
+#define KP 0.09
+#define KI 0.07
 #define KD 0.0
 #define PID_T 0.01
 // wheel diameter=12cm, encoder=48cpr, gear ratio=1:47
@@ -109,6 +109,7 @@
 #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
@@ -899,25 +900,25 @@ static void update_pid(void) {
        static int32_t esum4=0;
 
        // protect motors from damage if stalling
-       if (labs(esum1) > 140000 && speed1 == 0) {
+       if (labs(esum1) > STALL_LIMIT && speed1 == 0) {
                motor1 = 0;
                motor1_mode = MOTOR_MANUAL;
                error_state |= (1<<4);
                esum1 = 0;
        }       
-       if (labs(esum2) > 140000 && speed2 == 0) {
+       if (labs(esum2) > STALL_LIMIT && speed2 == 0) {
                motor2 = 0;
                motor2_mode = MOTOR_MANUAL;
                error_state |= (1<<5);
                esum2 = 0;
        }       
-       if (labs(esum3) > 140000 && speed3 == 0) {
+       if (labs(esum3) > STALL_LIMIT && speed3 == 0) {
                motor3 = 0;
                motor3_mode = MOTOR_MANUAL;
                error_state |= (1<<6);
                esum3 = 0;
        }       
-       if (labs(esum4) > 140000 && speed4 == 0) {
+       if (labs(esum4) > STALL_LIMIT && speed4 == 0) {
                motor4 = 0;
                motor4_mode = MOTOR_MANUAL;
                error_state |= (1<<7);
@@ -1043,8 +1044,8 @@ int main(void) {
        TWI_RESET;
 
        // Motor 1 & 2
-       // Also used for PWM frequency TIMER1_FREQ
-       // 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);
        // Avoid narrow spike on extreme pwm value 0 by not setting COM1*1
@@ -1125,7 +1126,7 @@ int main(void) {
                        motor4_mode = MOTOR_PID;
                }
 
-               if (run_update >= 156) { // TIMER1_FREQ/156 = ~100Hz
+               if (run_update >= 195) { // TIMER1_FREQ/195 = ~100Hz
                        run_update=0;
 
                        update_pos();