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pid fixes
[ros_wild_thumper.git]
/
avr
/
motor_ctrl
/
main.c
diff --git
a/avr/motor_ctrl/main.c
b/avr/motor_ctrl/main.c
index 5c6a667f28449ca59c3ec96890a8726343a1333e..66a7c4afd63af534cb47608eb82c805bcf7dd2fd 100644
(file)
--- a/
avr/motor_ctrl/main.c
+++ b/
avr/motor_ctrl/main.c
@@
-101,8
+101,8
@@
#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 0.0
25
-#define KI
2.3
+#define KP 0.0
39
+#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
#define KD 0.0
#define PID_T 0.01
// wheel diameter=12cm, encoder=48cpr, gear ratio=1:34, real wheel diameter: 0.12454m
@@
-172,7
+172,7
@@
ISR(TWI_vect)
static ufloat_t tmp_angle;
switch (TWSR & 0xF8)
static ufloat_t tmp_angle;
switch (TWSR & 0xF8)
- {
+ {
case 0x60: // start write
TWI_ACK;
ireg = 0;
case 0x60: // start write
TWI_ACK;
ireg = 0;
@@
-871,7
+871,9
@@
static void update_pid(void) {
motor1 = KP*e + KI*PID_T*esum1 + KD/PID_T*(e - eold1);
eold1 = 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;
}
}
else if (motor1 < -255) motor1 = -255;
}
}
@@
-886,7
+888,9
@@
static void update_pid(void) {
motor2 = KP*e + KI*PID_T*esum2 + KD/PID_T*(e - eold2);
eold2 = 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;
}
}
else if (motor2 < -255) motor2 = -255;
}
}
@@
-901,7
+905,9
@@
static void update_pid(void) {
motor3 = KP*e + KI*PID_T*esum3 + KD/PID_T*(e - eold3);
eold3 = 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;
}
}
else if (motor3 < -255) motor3 = -255;
}
}
@@
-916,7
+922,9
@@
static void update_pid(void) {
motor4 = KP*e + KI*PID_T*esum4 + KD/PID_T*(e - eold4);
eold4 = 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;
}
}
else if (motor4 < -255) motor4 = -255;
}
}