avr: calibration from umbmark

[ros_wild_thumper.git] / avr / motor_ctrl / main.c

diff --git a/avr/motor_ctrl/main.c b/avr/motor_ctrl/main.c
index 1fd829253bd09f76c7e45800fa41cdedfe0255b2..d40347996ff5d4065a4d1f8f8d5b68642ce55d62 100644 (file)
--- a/avr/motor_ctrl/main.c
+++ b/avr/motor_ctrl/main.c
@@ -106,8 +106,8 @@
 #define KI 0.051429
 #define KD 0.000378
 #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
+#define STEP_PER_M 4171.4 // wheel diameter=12cm, encoder=48cpr, gear ratio=1:34, calculated wheel diameter: 0.12454m
+#define WHEEL_DIST 0.36923 // Real: 0.252
 
 enum mode {
        MOTOR_MANUAL,
@@ -346,10 +346,12 @@ ISR(TWI_vect)
                                        break;
                                case 0x94: // Front Handicap backward
                                        front_handicap_bwd = TWDR;
+                                       cmd_vel.bUpdate = 1;
                                        TWI_ACK;
                                        break;
                                case 0x95: // Aft Handicap forward
                                        aft_handicap_fwd = TWDR;
+                                       cmd_vel.bUpdate = 1;
                                        TWI_ACK;
                                        break;
                                case 0xff: // bootloader
@@ -776,7 +778,7 @@ static void update_pos(void) {
 
        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;
+       else if (angle_new < -2*M_PI) angle_new+=2*M_PI;
 
        translation = (diff_left_m + diff_right_m)/2.0;
        pos_x_new = pos_x.f + cos(angle_new)*translation;
@@ -963,22 +965,22 @@ int main(void) {
                        speed_wish_left*=STEP_PER_M;
                        speed_wish_right*=STEP_PER_M;
 
-                       if (speed1_wish > 0 && aft_handicap_fwd > 0) {
+                       if (speed_wish_left > 0 && aft_handicap_fwd > 0) {
                                speed1_wish = speed_wish_left * (100-aft_handicap_fwd)/100.0;
                        } else {
                                speed1_wish = speed_wish_left;
                        }
-                       if (speed2_wish > 0 && front_handicap_bwd > 0) {
+                       if (speed_wish_left < 0 && front_handicap_bwd > 0) {
                                speed2_wish = speed_wish_left * (100-front_handicap_bwd)/100.0;
                        } else {
                                speed2_wish = speed_wish_left;
                        }
-                       if (speed3_wish > 0 && front_handicap_bwd > 0) {
+                       if (speed_wish_right < 0 && front_handicap_bwd > 0) {
                                speed3_wish = speed_wish_right * (100-front_handicap_bwd)/100.0;
                        } else {
                                speed3_wish = speed_wish_right;
                        }
-                       if (speed4_wish > 0 && aft_handicap_fwd > 0) {
+                       if (speed_wish_right > 0 && aft_handicap_fwd > 0) {
                                speed4_wish = speed_wish_right * (100-aft_handicap_fwd)/100.0;
                        } else {
                                speed4_wish = speed_wish_right;