* 0x02 Motor 1 PWM LSB
* 0x03 Motor 2 PWM MSB
* 0x04 Motor 2 PWM LSB
- * 0x05 Motor 3 PWM MSB
- * 0x06 Motor 3 PWM LSB
- * 0x07 Motor 4 PWM MSB
- * 0x08 Motor 4 PWM LSB
* free
* 0x10 Hall 1 MSB
* 0x11 Hall 1 LSB
* 0x21 Motor 1 speed wish LSB
* 0x22 Motor 2 speed wish MSB
* 0x23 Motor 2 speed wish LSB
- * 0x24 Motor 3 speed wish MSB
- * 0x25 Motor 3 speed wish LSB
- * 0x26 Motor 4 speed wish MSB
- * 0x27 Motor 4 speed wish LSB
* 0x28 Left speed wish (m/s) MSB
* 0x29 Left speed wish (m/s)
* 0x2A Left speed wish (m/s)
* 0x31 Motor 1 speed LSB
* 0x32 Motor 2 speed MSB
* 0x33 Motor 2 speed LSB
- * 0x34 Motor 3 speed MSB
- * 0x35 Motor 3 speed LSB
- * 0x36 Motor 4 speed MSB
- * 0x37 Motor 4 speed LSB
* 0x38 Speed (m/s) MSB
* 0x39 Speed (m/s)
* 0x3A Speed (m/s)
* 0x3D Angle (rad/s)
* 0x3E Angle (rad/s)
* 0x3F Angle (rad/s) LSB
- * free
* 0x40 Position x (m) MSB
* 0x41 Position x (m)
* 0x42 Position x (m)
* free
* 0x90 Motor 1 switch
* 0x91 Motor 2 switch
- * 0x92 Motor 3 switch
- * 0x93 Motor 4 switch
- * 0x94 TLE Error status
+ * free
+ * 0xA0 Reset reason
+ * 0xA1 Error status
+ * 0xA2 count test
* free
* 0xff Bootloader
*/
#define TWI_RESET TWCR &= ~((1 << TWSTO) | (1 << TWEN)); TWI_ACK
#define TWI_NAK TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE)
-#define KP 0.009
-#define KI 0.051429
-#define KD 0.000378
+#define KP 0.045
+#define KI 2.298
+#define KD 0.0004
#define PID_T 0.01
-#define STEP_PER_M 3376.1 // wheel diameter=12cm, encoder=48cpr, gear ratio=1:34
-#define WHEEL_DIST 0.252
+// 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
enum mode {
MOTOR_MANUAL,
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 motor2=0;
-static volatile int16_t motor3=0;
-static volatile int16_t motor4=0;
static volatile int16_t pos1=0; // step
static volatile int16_t pos2=0;
static volatile int16_t pos3=0;
static volatile int16_t pos4=0;
static volatile enum mode motor1_mode=MOTOR_MANUAL;
static volatile enum mode motor2_mode=MOTOR_MANUAL;
-static volatile enum mode motor3_mode=MOTOR_MANUAL;
-static volatile enum mode motor4_mode=MOTOR_MANUAL;
static volatile uint8_t motor1_switch=0;
-static volatile uint8_t motor2_switch=0;
-static volatile uint8_t motor3_switch=0;
-static volatile uint8_t motor4_switch=0;
+static volatile uint8_t motor2_switch=1;
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 uint8_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 int16_t speed4=0;
+static volatile int16_t speed_l=0;
+static volatile int16_t speed_r=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;
+static volatile uint8_t count_test=0;
+static volatile uint8_t error_state=0;
ISR(TWI_vect)
{
motor2_mode = MOTOR_MANUAL;
TWI_ACK;
break;
- case 0x05: // Motor 3 MSB
- tmp = TWDR;
- TWI_ACK;
- break;
- case 0x06: // Motor 3 LSB
- motor3 = tmp<<8 | TWDR;
- motor3_mode = MOTOR_MANUAL;
- TWI_ACK;
- break;
- case 0x07: // Motor 4 MSB
- tmp = TWDR;
- TWI_ACK;
- break;
- case 0x08: // Motor 4 LSB
- motor4 = tmp<<8 | TWDR;
- motor4_mode = MOTOR_MANUAL;
- TWI_ACK;
- break;
case 0x20: // Motor 1 speed wish MSB
tmp = TWDR;
TWI_ACK;
motor2_mode = MOTOR_PID;
TWI_ACK;
break;
- case 0x24: // Motor 3 speed wish MSB
- tmp = TWDR;
- TWI_ACK;
- break;
- case 0x25: // Motor 3 speed wish LSB
- speed3_wish = tmp<<8 | TWDR;
- motor3_mode = MOTOR_PID;
- TWI_ACK;
- break;
- case 0x26: // Motor 4 speed wish MSB
- tmp = TWDR;
- TWI_ACK;
- break;
- case 0x27: // Motor 4 speed wish LSB
- speed4_wish = tmp<<8 | TWDR;
- motor4_mode = MOTOR_PID;
- TWI_ACK;
- break;
case 0x28: // Left speed wish MSB
tmp_speed.i = TWDR;
TWI_ACK;
break;
case 0x2B: // Left speed wish LSB
tmp_speed.i = tmp_speed.i << 8 | TWDR;
- speed1_wish = tmp_speed.f*STEP_PER_M;
- speed2_wish = tmp_speed.f*STEP_PER_M;
+ speed1_wish = tmp_speed.f*STEP_PER_M_LEFT;
+ speed2_wish = tmp_speed.f*STEP_PER_M_LEFT;
motor1_mode = MOTOR_PID;
motor2_mode = MOTOR_PID;
TWI_ACK;
break;
case 0x2F: // Right speed wish LSB
tmp_speed.i = tmp_speed.i << 8 | TWDR;
- speed1_wish = tmp_speed.f*STEP_PER_M;
- speed2_wish = tmp_speed.f*STEP_PER_M;
+ speed1_wish = tmp_speed.f*STEP_PER_M_RIGHT;
+ speed2_wish = tmp_speed.f*STEP_PER_M_RIGHT;
motor1_mode = MOTOR_PID;
motor2_mode = MOTOR_PID;
TWI_ACK;
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
motor2_switch = TWDR;
TWI_ACK;
break;
- case 0x92: // Motor 3 switch
- motor3_switch = TWDR;
- TWI_ACK;
- break;
- case 0x93: // Motor 4 switch
- motor4_switch = TWDR;
- TWI_ACK;
- break;
case 0xff: // bootloader
bootloader = TWDR;
default:
TWDR = OCR1B;
TWI_ACK;
break;
- case 0x06: // Motor 3 PWM
- TWDR = OCR2;
- TWI_ACK;
- break;
- case 0x08: // Motor 4 PWM
- TWDR = OCR0;
- TWI_ACK;
- break;
case 0x10: // Hall 1 MSB
tmp16 = pos1;
TWDR = tmp16>>8;
TWDR = speed2_wish;
TWI_ACK;
break;
- case 0x24: // Motor 3 speed wish MSB
- TWDR = speed3_wish>>8;
- TWI_ACK;
- break;
- case 0x25: // Motor 3 speed wish LSB
- TWDR = speed3_wish;
- TWI_ACK;
- break;
- case 0x26: // Motor 4 speed wish MSB
- TWDR = speed4_wish>>8;
- TWI_ACK;
- break;
- case 0x27: // Motor 4 speed wish LSB
- TWDR = speed4_wish;
- TWI_ACK;
- break;
case 0x30: // Motor 1 speed MSB
TWDR = speed1>>8;
TWI_ACK;
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 0x48: // Position angle MSB
- TWDR = pos_y.i>>24;
+ TWDR = angle.i>>24;
TWI_ACK;
break;
case 0x49: // Position angle
- TWDR = pos_y.i>>16;
+ TWDR = angle.i>>16;
TWI_ACK;
break;
case 0x4A: // Position angle
- TWDR = pos_y.i>>8;
+ TWDR = angle.i>>8;
TWI_ACK;
break;
case 0x4B: // Position angle LSB
- TWDR = pos_y.i;
+ TWDR = angle.i;
TWI_ACK;
break;
- case 0x94: // TLE Error status
- TWDR = (PIND & 0x40)>>2 | (PINB & 0x07);
+ case 0xA0: // Reset reason
+ TWDR = MCUCSR & 0x0f;
+ MCUCSR = 0x0;
TWI_ACK;
break;
+ case 0xA1: // TLE Error status
+ TWDR = error_state;
+ TWI_ACK;
+ break;
+ case 0xA2: // count test
+ TWDR = count_test;
+ TWI_ACK;
default:
TWDR = 0;
TWI_NAK;
diff = oldstatus - new; // difference last - new
if (diff & 0x1) { // bit 0 = value (1)
oldstatus = new; // store new as next last
- if (motor1_switch) pos1 += (diff & 2) - 1; // bit 1 = direction (+/-)
- else pos1 -= (diff & 2) - 1;
+ if (motor1_switch) pos1 -= (diff & 2) - 1; // bit 1 = direction (+/-)
+ else pos1 += (diff & 2) - 1;
}
}
diff = oldstatus - new; // difference last - new
if (diff & 0x1) { // bit 0 = value (1)
oldstatus = new; // store new as next last
- if (motor2_switch) pos2 -= (diff & 2) - 1; // bit 1 = direction (+/-)
+ if (motor1_switch) pos2 -= (diff & 2) - 1; // bit 1 = direction (+/-)
else pos2 += (diff & 2) - 1;
}
}
diff = oldstatus - new; // difference last - new
if (diff & 0x1) { // bit 0 = value (1)
oldstatus = new; // store new as next last
- if (motor3_switch) pos3 -= (diff & 2) - 1; // bit 1 = direction (+/-)
- else pos3 += (diff & 2) - 1;
+ if (motor2_switch) pos3 += (diff & 2) - 1; // bit 1 = direction (+/-)
+ else pos3 -= (diff & 2) - 1;
}
}
diff = oldstatus - new; // difference last - new
if (diff & 0x1) { // bit 0 = value (1)
oldstatus = new; // store new as next last
- if (motor4_switch) pos4 += (diff & 2) - 1; // bit 1 = direction (+/-)
- else pos4 -= (diff & 2) - 1;
+ if (motor2_switch) pos4 -= (diff & 2) - 1; // bit 1 = direction (+/-)
+ else pos4 += (diff & 2) - 1;
}
}
static void update_motor(void) {
static int16_t m1_old=SHRT_MIN;
static int16_t m2_old=SHRT_MIN;
- static int16_t m3_old=SHRT_MIN;
- static int16_t m4_old=SHRT_MIN;
+
+ error_state = ~(PINB & 0x03);
+
+ if (motor1_mode == MOTOR_PID && bit_is_set(error_state, 0)) {
+ // if error and running: stop
+ if (m1_old != 0) motor1 = 0;
+ // if we start motor in error state: start with full power
+ else if (motor1 > 0) motor1 = 255;
+ else if (motor1 < 0) motor1 = -255;
+ }
+ if (motor2_mode == MOTOR_PID && bit_is_set(error_state, 1)) {
+ // if error and running: stop
+ if (m2_old != 0) motor2 = 0;
+ // if we start motor in error state: start with full power
+ else if (motor2 > 0) motor2 = 255;
+ else if (motor2 < 0) motor2 = -255;
+ }
if (m1_old != motor1) { // update only when changed
if (motor1 == 0) {
// stop
- PORTC |= (1 << 3) | (1 << 2);
+ PORTC &= ~(1 << 3) & ~(1 << 2);
} else if ((!motor1_switch && motor1 > 0) || (motor1_switch && motor1 < 0)) {
// forward
- PORTC &= ~(1 << 3) & ~(1 << 2);
+ PORTC |= (1 << 2);
+ PORTC &= ~(1 << 3);
} else { // motor1 < 0
// backward
PORTC &= ~(1 << 2);
if (m2_old != motor2) { // update only when changed
if (motor2 == 0) {
// stop
- PORTC |= (1 << 5) | (1 << 4);
+ PORTC &= ~(1 << 5) & ~(1 << 4);
} else if ((!motor2_switch && motor2 > 0) || (motor2_switch && motor2 < 0)) {
// forward
- PORTC &= ~(1 << 5) & ~(1 << 4);
+ PORTC |= (1 << 4);
+ PORTC &= ~(1 << 5);
} else { // motor2 < 0
// backward
PORTC &= ~(1 << 4);
m2_old = motor2;
OCR1B = abs(motor2);
}
-
- if (m3_old != motor3) { // update only when changed
- if (motor3 == 0) {
- // stop
- PORTC |= (1 << 7) | (1 << 6);
- } else if ((!motor3_switch && motor3 > 0) || (motor3_switch && motor3 < 0)) {
- // forward
- PORTC &= ~(1 << 7) & ~(1 << 6);
- } else { // motor3 < 0
- // backward
- PORTC &= ~(1 << 6);
- PORTC |= (1 << 7);
- }
-
- m3_old = motor3;
- OCR2 = abs(motor3);
- }
-
- if (m4_old != motor4) { // update only when changed
- if (motor4 == 0) {
- // stop
- PORTD |= (1 << 3) | (1 << 2);
- } else if ((!motor4_switch && motor4 > 0) || (motor4_switch && motor4 < 0)) {
- // forward
- PORTD &= ~(1 << 3) & ~(1 << 2);
- } else { // motor4 < 0
- // backward
- PORTD &= ~(1 << 2);
- PORTD |= (1 << 3);
- }
-
- m4_old = motor4;
- OCR0 = abs(motor4);
- }
}
int16_t pos3_diff;
int16_t pos4_diff;
float diff_left_m, diff_right_m, angle_diff, translation;
+ float pos_x_new, pos_y_new, angle_new;
+ float tmp_speed_lin, tmp_speed_rot;
+ int16_t cur_pos1, cur_pos2, cur_pos3, cur_pos4;
+ int16_t new_speed1, new_speed2, new_speed3, new_speed4;
+
+ // copy to tmp
+ cli();
+ cur_pos1 = pos1;
+ cur_pos2 = pos2;
+ cur_pos3 = pos3;
+ cur_pos4 = pos4;
+ sei();
+
+ pos1_diff = cur_pos1 - pos1_last;
+ pos2_diff = cur_pos2 - pos2_last;
+ pos3_diff = cur_pos3 - pos3_last;
+ pos4_diff = cur_pos4 - pos4_last;
- //cli();
- pos1_diff = pos1 - pos1_last;
- pos2_diff = pos2 - pos2_last;
- pos3_diff = pos3 - pos3_last;
- pos4_diff = pos4 - pos4_last;
- speed1 = pos1_diff/PID_T;
- speed2 = pos2_diff/PID_T;
- speed3 = pos3_diff/PID_T;
- speed4 = pos4_diff/PID_T;
- //sei();
-
- diff_left_m = (pos1_diff + pos2_diff)/(2*STEP_PER_M);
- diff_right_m = (pos3_diff + pos4_diff)/(2*STEP_PER_M);
+ new_speed1 = pos1_diff/PID_T;
+ new_speed2 = pos2_diff/PID_T;
+ new_speed3 = pos3_diff/PID_T;
+ new_speed4 = pos4_diff/PID_T;
+
+ diff_left_m = (pos1_diff + pos2_diff)/(2*STEP_PER_M_LEFT);
+ diff_right_m = (pos3_diff + pos4_diff)/(2*STEP_PER_M_RIGHT);
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();
-
- pos1_last = pos1;
- pos2_last = pos2;
- pos3_last = pos3;
- pos4_last = pos4;
+ pos_x_new = pos_x.f + cos(angle_new)*translation;
+ pos_y_new = pos_y.f + sin(angle_new)*translation;
+
+ speed_l = (new_speed1+new_speed2)/2;
+ speed_r = (new_speed3+new_speed4)/2;
+ tmp_speed_lin = (speed_l + speed_r)/(2.0*STEP_PER_M_AVG);
+ tmp_speed_rot = (speed_r - speed_l)/(M_PI*WHEEL_DIST*STEP_PER_M_AVG);
+
+ // copy from tmp
+ cli();
+ angle.f = angle_new;
+ pos_x.f = pos_x_new;
+ pos_y.f = pos_y_new;
+ speed1 = new_speed1;
+ speed2 = new_speed2;
+ speed3 = new_speed3;
+ speed4 = new_speed4;
+ cur_speed_lin = tmp_speed_lin;
+ cur_speed_rot = tmp_speed_rot;
+ sei();
+
+ pos1_last = cur_pos1;
+ pos2_last = cur_pos2;
+ pos3_last = cur_pos3;
+ pos4_last = cur_pos4;
}
static void update_pid(void) {
static int16_t eold1=0;
static int16_t eold2=0;
- static int16_t eold3=0;
- static int16_t eold4=0;
static int32_t esum1=0;
static int32_t esum2=0;
- static int32_t esum3=0;
- static int32_t esum4=0;
if (motor1_mode == MOTOR_PID) {
if (speed1_wish == 0) {
motor1 = 0;
+ eold1 = 0;
+ esum1 = 0;
} else {
- int16_t e = speed1_wish - speed1;
+ int16_t e = speed1_wish - speed_l;
esum1+=e;
- motor1 += KP*e + KI*PID_T*esum1 + KD/PID_T*(e - eold1);
+ motor1 = KP*e + KI*PID_T*esum1 + KD/PID_T*(e - eold1);
eold1 = e;
if (motor1 > 255) motor1 = 255;
if (motor2_mode == MOTOR_PID) {
if (speed2_wish == 0) {
motor2 = 0;
+ eold2 = 0;
+ esum2 = 0;
} else {
- int16_t e = speed2_wish - speed2;
+ int16_t e = speed2_wish - speed_r;
esum2+=e;
- motor2 += KP*e + KI*PID_T*esum2 + KD/PID_T*(e - eold2);
+ motor2 = KP*e + KI*PID_T*esum2 + KD/PID_T*(e - eold2);
eold2 = e;
if (motor2 > 255) motor2 = 255;
else if (motor2 < -255) motor2 = -255;
}
}
- if (motor3_mode == MOTOR_PID) {
- if (speed3_wish == 0) {
- motor3 = 0;
- } 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 > 255) motor3 = 255;
- else if (motor3 < -255) motor3 = -255;
- }
- }
- if (motor4_mode == MOTOR_PID) {
- if (speed4_wish == 0) {
- motor4 = 0;
- } 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 > 255) motor4 = 255;
- else if (motor4 < -255) motor4 = -255;
- }
- }
}
TWI_RESET;
// Motor 1 & 2
- // Timer 1: Fast PWM inverting mode, Top=256 => 15.625kHz
+ // Timer 1: Fast PWM non-inverting mode, Top=256 => 15.625kHz
// Prescaler=1
- TCCR1A = (1 << COM1A1) | (1 << COM1B1) | (1 << COM1A0) | (1 << COM1B0) | (1 << WGM10);
+ TCCR1A = (1 << COM1A1) | (1 << COM1B1) | (1 << WGM10);
TCCR1B = (1 << WGM12) | (1 << CS10);
OCR1A = 0;
OCR1B = 0;
- // Motor 3
- // Timer 2: Fast PWM inverting mode, Top=256 => 15.625kHz
- // 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
- // Prescaler=1
- TCCR0 = (1 << WGM01) | (1 << WGM00) | (1 << COM01) | (1 << COM00) | (1 << CS00);
- OCR0 = 0;
-
printf("\r\nStart\r\n");
set_sleep_mode(SLEEP_MODE_IDLE);
}
break;
}
-
+
+ if (cmd_vel.bUpdate) {
+ float speed_wish_right, speed_wish_left;
+ float speed, angle;
+
+ cli();
+ speed = cmd_vel.speed;
+ angle = cmd_vel.angle;
+ cmd_vel.bUpdate = 0;
+ sei();
+
+ speed_wish_right = angle*M_PI*WHEEL_DIST/2 + speed;
+ speed_wish_left = speed*2-speed_wish_right;
+
+ speed_wish_left*=STEP_PER_M_LEFT;
+ speed_wish_right*=STEP_PER_M_RIGHT;
+
+ speed1_wish = speed_wish_left;
+ speed2_wish = speed_wish_right;
+ motor1_mode = MOTOR_PID;
+ motor2_mode = MOTOR_PID;
+ }
if (run_update >= 156) { // ~100Hz
run_update=0;
update_pos();
update_pid();
update_motor();
+ count_test++;
}
sleep_mode();
projects / ros_wild_thumper.git / blobdiff