uint32_t i;
} ufloat_t;
+static volatile struct {
+ float speed;
+ float angle;
+ uint8_t bUpdate;
+} cmd_vel = {0, 0, 0};
+
static volatile uint8_t ireg=0;
static volatile uint8_t bootloader=0;
static volatile int16_t motor1=0; // -255..+255
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 run_update=0;
+static volatile uint16_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 ufloat_t pos_x={0.0};
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;
ISR(TWI_vect)
{
break;
case 0x53: // speed wish LSB
tmp_speed.i = tmp_speed.i << 8 | TWDR;
+ cmd_vel.speed = tmp_speed.f;
TWI_ACK;
break;
case 0x54: // angle wish MSB
break;
case 0x57: // angle wish LSB
tmp_angle.i = tmp_angle.i << 8 | TWDR;
- {
- float speed_wish_right = tmp_angle.f*M_PI*WHEEL_DIST/2 + tmp_speed.f;
- float speed_wish_left = tmp_speed.f*2-speed_wish_right;
- speed1_wish = speed_wish_left*STEP_PER_M;
- speed2_wish = speed_wish_left*STEP_PER_M;
- speed3_wish = speed_wish_right*STEP_PER_M;
- speed4_wish = speed_wish_right*STEP_PER_M;
- }
- motor1_mode = MOTOR_PID;
- motor2_mode = MOTOR_PID;
- motor3_mode = MOTOR_PID;
- motor4_mode = MOTOR_PID;
+ cmd_vel.angle = tmp_angle.f;
+ cmd_vel.bUpdate = 1;
TWI_ACK;
break;
case 0x90: // Motor 1 switch
TWI_ACK;
break;
case 0x38: // speed MSB
- {
- int16_t speed_l = (speed3+speed4)/2;
- int16_t speed_r = (speed1+speed2)/2;
- tmp_speed.f = (speed_l + speed_r)/(2.0*STEP_PER_M);
- tmp_angle.f = (speed_r - speed_l)/(M_PI*WHEEL_DIST*STEP_PER_M);
- }
+ tmp_speed.f = cur_speed_lin;
TWDR = tmp_speed.i>>24;
TWI_ACK;
break;
TWI_ACK;
break;
case 0x3C: // angle MSB
+ tmp_angle.f = cur_speed_rot;
TWDR = tmp_angle.i>>24;
TWI_ACK;
break;
TWI_ACK;
break;
case 0x94: // TLE Error status
- TWDR = (PIND & 0x40)>>2 | (PINB & 0x07);
+ TWDR = ~((PIND & 0x40)>>3 | (PINB & 0x07)) & 0xf;
TWI_ACK;
break;
default:
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;
+ int16_t speed_l, speed_r;
+ float tmp_speed_lin, tmp_speed_rot;
- //cli();
+ cli();
pos1_diff = pos1 - pos1_last;
pos2_diff = pos2 - pos2_last;
pos3_diff = pos3 - pos3_last;
speed2 = pos2_diff/PID_T;
speed3 = pos3_diff/PID_T;
speed4 = pos4_diff/PID_T;
- //sei();
+ sei();
diff_left_m = (pos1_diff + pos2_diff)/(2*STEP_PER_M);
diff_right_m = (pos3_diff + pos4_diff)/(2*STEP_PER_M);
angle_diff = (diff_right_m - diff_left_m) / WHEEL_DIST;
- //cli();
- angle.f+=angle_diff;
- if (angle.f > 2*M_PI) angle.f-=2*M_PI;
- else if (angle.f < 2*M_PI) angle.f+=2*M_PI;
- //sei();
-
- //cli();
+ 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;
+
translation = (diff_left_m + diff_right_m)/2.0;
- pos_x.f += cos(angle.f)*translation;
- pos_y.f += sin(angle.f)*translation;
- //sei();
+ 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();
+
+ 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);
+
+ cli();
+ cur_speed_lin = tmp_speed_lin;
+ cur_speed_rot = tmp_speed_rot;
+ sei();
pos1_last = pos1;
pos2_last = pos2;
if (motor1_mode == MOTOR_PID) {
if (speed1_wish == 0) {
motor1 = 0;
+ eold1 = 0;
+ esum1 = 0;
} else {
int16_t e = speed1_wish - speed1;
esum1+=e;
if (motor2_mode == MOTOR_PID) {
if (speed2_wish == 0) {
motor2 = 0;
+ eold2 = 0;
+ esum2 = 0;
} else {
int16_t e = speed2_wish - speed2;
esum2+=e;
if (motor3_mode == MOTOR_PID) {
if (speed3_wish == 0) {
motor3 = 0;
+ eold3 = 0;
+ esum3 = 0;
} else {
int16_t e = speed3_wish - speed3;
esum3+=e;
if (motor4_mode == MOTOR_PID) {
if (speed4_wish == 0) {
motor4 = 0;
+ eold4 = 0;
+ esum4 = 0;
} else {
int16_t e = speed4_wish - speed4;
esum4+=e;
TWI_RESET;
// Motor 1 & 2
- // Timer 1: Fast PWM inverting mode, Top=256 => 15.625kHz
+ // Timer 1: Fast PWM inverting mode, Top=256 => 31.25kHz
// Prescaler=1
TCCR1A = (1 << COM1A1) | (1 << COM1B1) | (1 << COM1A0) | (1 << COM1B0) | (1 << WGM10);
TCCR1B = (1 << WGM12) | (1 << CS10);
OCR1B = 0;
// Motor 3
- // Timer 2: Fast PWM inverting mode, Top=256 => 15.625kHz
+ // Timer 2: Fast PWM inverting mode, Top=256
// Prescaler=1
TCCR2 = (1 << WGM21) | (1 << WGM20) | (1 << COM21) | (1 << COM20) | (1 << CS20);
OCR2 = 0;
// Motor 4
- // Timer 0: Fast PWM inverting mode, Top=256 => 15.625kHz
+ // Timer 0: Fast PWM inverting mode, Top=256
// Prescaler=1
TCCR0 = (1 << WGM01) | (1 << WGM00) | (1 << COM01) | (1 << COM00) | (1 << CS00);
OCR0 = 0;
}
break;
}
-
- if (run_update >= 156) { // ~100Hz
+ 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;
+
+ cmd_vel.bUpdate = 0;
+ speed_wish_left*=STEP_PER_M;
+ speed_wish_right*=STEP_PER_M;
+
+ speed1_wish = speed_wish_left;
+ speed2_wish = speed_wish_left;
+ speed3_wish = speed_wish_right;
+ speed4_wish = speed_wish_right;
+ motor1_mode = MOTOR_PID;
+ motor2_mode = MOTOR_PID;
+ motor3_mode = MOTOR_PID;
+ motor4_mode = MOTOR_PID;
+ }
+
+ if (run_update >= 312) { // ~100Hz
run_update=0;
update_pos();