#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 0.06
+#define KI 0.10
#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
+// wheel diameter=12cm, encoder=48cpr, gear ratio=1:47, real wheel diameter: 0.12454m
+#define STEP_PER_M_AVG 5766.1
#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
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;
}
if (motor1_mode == MOTOR_PID) {
+ if (speed1_wish != speed1_wish_old) {
+ 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;
}
}
if (motor2_mode == MOTOR_PID) {
+ if (speed2_wish != speed2_wish_old) {
+ 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;
}
}
if (motor3_mode == MOTOR_PID) {
+ if (speed3_wish != speed3_wish_old) {
+ 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;
}
}
if (motor4_mode == MOTOR_PID) {
+ if (speed4_wish != speed4_wish_old) {
+ 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;