* 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)
* free
* 0x90 Motor 1 switch
* 0x91 Motor 2 switch
+ * 0x92 Motor 3 switch
+ * 0x93 Motor 4 switch
+ * 0x94 Front Handicap
+ * 0x95 Aft Handicap
* free
* 0xA0 Reset reason
* 0xA1 Error status
#define TWI_RESET TWCR &= ~((1 << TWSTO) | (1 << TWEN)); TWI_ACK
#define TWI_NAK TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE)
-#define KP 0.045
-#define KI 2.298
-#define KD 0.0004
+#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
+#define PWM_BREAK INT16_MIN
enum mode {
MOTOR_MANUAL,
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 uint8_t motor1_switch=0;
+static volatile enum mode motor3_mode=MOTOR_MANUAL;
+static volatile enum mode motor4_mode=MOTOR_MANUAL;
+static volatile uint8_t motor1_switch=1;
static volatile uint8_t motor2_switch=1;
+static volatile uint8_t motor3_switch=0;
+static volatile uint8_t motor4_switch=0;
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 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;
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 front_handicap=0;
+static volatile uint8_t aft_handicap=0;
static volatile uint8_t error_state=0;
ISR(TWI_vect)
static ufloat_t tmp_angle;
switch (TWSR & 0xF8)
- {
+ {
case 0x60: // start write
TWI_ACK;
ireg = 0;
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;
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 0x94: // Front Handicap
+ front_handicap = TWDR;
+ cmd_vel.bUpdate = 1;
+ TWI_ACK;
+ break;
+ case 0x95: // Aft Handicap
+ aft_handicap = TWDR;
+ cmd_vel.bUpdate = 1;
+ TWI_ACK;
+ break;
case 0xff: // bootloader
bootloader = TWDR;
default:
TWDR = OCR1A;
TWI_ACK;
break;
+ case 0x03: // Dummy to allow continous read
+ TWDR = 0;
+ TWI_ACK;
+ break;
case 0x04: // Motor 2 PWM
TWDR = OCR1B;
TWI_ACK;
break;
+ case 0x05: // Dummy to allow continous read
+ TWDR = 0;
+ TWI_ACK;
+ break;
+ case 0x06: // Motor 3 PWM
+ TWDR = OCR2;
+ TWI_ACK;
+ break;
+ case 0x07: // Dummy to allow continous read
+ TWDR = 0;
+ TWI_ACK;
+ break;
+ case 0x08: // Motor 4 PWM
+ TWDR = OCR0;
+ TWI_ACK;
+ break;
+ case 0x09: // Dummy to allow continous read
+ TWDR = 0;
+ 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;
MCUCSR = 0x0;
TWI_ACK;
break;
- case 0xA1: // TLE Error status
+ case 0xA1: // Error status
TWDR = error_state;
TWI_ACK;
break;
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 (motor1_switch) pos2 -= (diff & 2) - 1; // bit 1 = direction (+/-)
+ if (motor2_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 (motor2_switch) pos3 += (diff & 2) - 1; // bit 1 = direction (+/-)
- else pos3 -= (diff & 2) - 1;
+ if (motor3_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 (motor2_switch) pos4 -= (diff & 2) - 1; // bit 1 = direction (+/-)
- else pos4 += (diff & 2) - 1;
+ if (motor4_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;
- }
+ error_state &= 0xf0; // clear lower bits
+ error_state |= ~((PIND & 0x40)>>3 | (PINB & 0x07)) & 0xf;
if (m1_old != motor1) { // update only when changed
if (motor1 == 0) {
// stop
PORTC &= ~(1 << 3) & ~(1 << 2);
+ } else if (motor1 == PWM_BREAK) {
+ PORTC |= (1 << 3) | (1 << 2);
} else if ((!motor1_switch && motor1 > 0) || (motor1_switch && motor1 < 0)) {
// forward
- PORTC |= (1 << 2);
- PORTC &= ~(1 << 3);
+ uint8_t tmp=PORTC;
+ tmp &= ~(1 << 3);
+ tmp |= (1 << 2);
+ PORTC = tmp;
} else { // motor1 < 0
// backward
- PORTC &= ~(1 << 2);
- PORTC |= (1 << 3);
+ uint8_t tmp=PORTC;
+ tmp &= ~(1 << 2);
+ tmp |= (1 << 3);
+ PORTC = tmp;
}
m1_old = motor1;
if (motor2 == 0) {
// stop
PORTC &= ~(1 << 5) & ~(1 << 4);
+ } else if (motor2 == PWM_BREAK) {
+ PORTC |= (1 << 5) | (1 << 4);
} else if ((!motor2_switch && motor2 > 0) || (motor2_switch && motor2 < 0)) {
// forward
- PORTC |= (1 << 4);
- PORTC &= ~(1 << 5);
+ uint8_t tmp=PORTC;
+ tmp &= ~(1 << 5);
+ tmp |= (1 << 4);
+ PORTC = tmp;
} else { // motor2 < 0
// backward
- PORTC &= ~(1 << 4);
- PORTC |= (1 << 5);
+ uint8_t tmp=PORTC;
+ tmp &= ~(1 << 4);
+ tmp |= (1 << 5);
+ PORTC = tmp;
}
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 == PWM_BREAK) {
+ PORTC |= (1 << 7) | (1 << 6);
+ } else if ((!motor3_switch && motor3 > 0) || (motor3_switch && motor3 < 0)) {
+ // forward
+ uint8_t tmp=PORTC;
+ tmp &= ~(1 << 7);
+ tmp |= (1 << 6);
+ PORTC = tmp;
+ } else { // motor3 < 0
+ // backward
+ uint8_t tmp=PORTC;
+ tmp &= ~(1 << 6);
+ tmp |= (1 << 7);
+ PORTC = tmp;
+ }
+
+ 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 == PWM_BREAK) {
+ PORTD |= (1 << 3) | (1 << 2);
+ } else if ((!motor4_switch && motor4 > 0) || (motor4_switch && motor4 < 0)) {
+ // forward
+ uint8_t tmp=PORTD;
+ tmp &= ~(1 << 3);
+ tmp |= (1 << 2);
+ PORTD = tmp;
+ } else { // motor4 < 0
+ // backward
+ uint8_t tmp=PORTD;
+ tmp &= ~(1 << 2);
+ tmp |= (1 << 3);
+ PORTD = tmp;
+ }
+
+ m4_old = motor4;
+ OCR0 = abs(motor4);
+ }
}
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);
+ tmp_speed_lin = translation/PID_T;
+ tmp_speed_rot = angle_diff/PID_T;
// copy from tmp
cli();
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;
+
+ // protect motors from damage if stalling
+ if (labs(esum1) > 140000 && speed1 == 0) {
+ motor1 = 0;
+ motor1_mode = MOTOR_MANUAL;
+ error_state |= (1<<4);
+ esum1 = 0;
+ }
+ if (labs(esum2) > 140000 && speed2 == 0) {
+ motor2 = 0;
+ motor2_mode = MOTOR_MANUAL;
+ error_state |= (1<<5);
+ esum2 = 0;
+ }
+ if (labs(esum3) > 140000 && speed3 == 0) {
+ motor3 = 0;
+ motor3_mode = MOTOR_MANUAL;
+ error_state |= (1<<6);
+ esum3 = 0;
+ }
+ // protect motors from damage if stalling
+ if (labs(esum4) > 140000 && speed4 == 0) {
+ motor4 = 0;
+ motor4_mode = MOTOR_MANUAL;
+ error_state |= (1<<7);
+ esum4 = 0;
+ }
if (motor1_mode == MOTOR_PID) {
+ if (speed1_wish != speed1_wish_old) {
+ if (abs(speed1_wish - speed1_wish_old) > 500) 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 - speed_l;
+ int16_t e = speed1_wish - speed1;
esum1+=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=PWM_BREAK;
+ else if (motor1 < 0 && speed1_wish > 0) motor1=PWM_BREAK;
+ else if (motor1 > 255) motor1 = 255;
else if (motor1 < -255) motor1 = -255;
}
}
if (motor2_mode == MOTOR_PID) {
+ if (speed2_wish != speed2_wish_old) {
+ if (abs(speed2_wish - speed2_wish_old) > 500) 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 - speed_r;
+ int16_t e = speed2_wish - speed2;
esum2+=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=PWM_BREAK;
+ else if (motor2 < 0 && speed2_wish > 0) motor2=PWM_BREAK;
+ else if (motor2 > 255) motor2 = 255;
else if (motor2 < -255) motor2 = -255;
}
}
+ if (motor3_mode == MOTOR_PID) {
+ if (speed3_wish != speed3_wish_old) {
+ if (abs(speed3_wish - speed3_wish_old) > 500) esum3 = 0;
+ speed3_wish_old = speed3_wish;
+ }
+
+ if (speed3_wish == 0) {
+ motor3 = 0;
+ eold3 = 0;
+ error_state &= ~(1<<6);
+ } 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 > 0 && speed3_wish < 0) motor3=PWM_BREAK;
+ else if (motor3 < 0 && speed3_wish > 0) motor3=PWM_BREAK;
+ else if (motor3 > 255) motor3 = 255;
+ else if (motor3 < -255) motor3 = -255;
+ }
+ }
+ if (motor4_mode == MOTOR_PID) {
+ if (speed4_wish != speed4_wish_old) {
+ if (abs(speed4_wish - speed4_wish_old) > 500) esum4 = 0;
+ speed4_wish_old = speed4_wish;
+ }
+
+ if (speed4_wish == 0) {
+ motor4 = 0;
+ eold4 = 0;
+ error_state &= ~(1<<7);
+ } 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 > 0 && speed4_wish < 0) motor4=PWM_BREAK;
+ else if (motor4 < 0 && speed4_wish > 0) motor4=PWM_BREAK;
+ else if (motor4 > 255) motor4 = 255;
+ else if (motor4 < -255) motor4 = -255;
+ }
+ }
}
DDRB = (1 << 3);
DDRC = (1 << 7) | (1 << 6) | (1 << 5) | (1 << 4) | (1 << 3) | (1 << 2);
DDRD = (1 << 7) | (1 << 5) | (1 << 4) | (1 << 3) | (1 << 2);
+ // Pullup Diag/Enable
+ PORTB = (1 << 0) | (1 << 1) | (1 << 2);
+ PORTD = (1 << 6);
bootloader = 0x00;
setup_uart(9600);
TWI_RESET;
// Motor 1 & 2
- // Timer 1: Fast PWM non-inverting mode, Top=256 => 15.625kHz
+ // Timer 1: Fast PWM non-inverting mode, Top=255 => 15.625kHz
// Prescaler=1
TCCR1A = (1 << COM1A1) | (1 << COM1B1) | (1 << WGM10);
TCCR1B = (1 << WGM12) | (1 << CS10);
OCR1A = 0;
OCR1B = 0;
+ // Motor 3
+ // Timer 2: Fast PWM non-inverting mode, Top=255
+ // Prescaler=1
+ TCCR2 = (1 << WGM21) | (1 << WGM20) | (1 << COM21) | (1 << CS20);
+ OCR2 = 0;
+
+ // Motor 4
+ // Timer 0: Fast PWM non-inverting mode, Top=255
+ // Prescaler=1
+ TCCR0 = (1 << WGM01) | (1 << WGM00) | (1 << COM01) | (1 << CS00);
+ OCR0 = 0;
+
printf("\r\nStart\r\n");
set_sleep_mode(SLEEP_MODE_IDLE);
cmd_vel.bUpdate = 0;
sei();
- speed_wish_right = angle*M_PI*WHEEL_DIST/2 + speed;
+ speed_wish_right = (angle*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;
+ if (aft_handicap > 0) {
+ speed1_wish = speed_wish_left * (100-aft_handicap)/100.0;
+ speed3_wish = speed_wish_right * (100-aft_handicap)/100.0;
+ } else {
+ speed1_wish = speed_wish_left;
+ speed3_wish = speed_wish_right;
+ }
+ if (front_handicap > 0) {
+ speed2_wish = speed_wish_left * (100-front_handicap)/100.0;
+ speed4_wish = speed_wish_right * (100-front_handicap)/100.0;
+ } else {
+ speed2_wish = speed_wish_left;
+ speed4_wish = speed_wish_right;
+ }
motor1_mode = MOTOR_PID;
motor2_mode = MOTOR_PID;
+ motor3_mode = MOTOR_PID;
+ motor4_mode = MOTOR_PID;
}
if (run_update >= 156) { // ~100Hz
projects / ros_wild_thumper.git / blobdiff