#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 0.061
+#define KI 0.12
#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
-#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
+// wheel diameter=12cm, encoder=48cpr, gear ratio=1:47
+// STEP_PER_M = 48*47/(d*pi)
+// Left real diameter: 0.12808, Right real diameter: 0.121
+#define STEP_PER_M 5770.8
+#define STEP_PER_M_LEFT (STEP_PER_M)
+#define STEP_PER_M_RIGHT (STEP_PER_M)
+#define WHEEL_DIST 0.39912 // Measured: 0.252
+#define PWM_BREAK INT16_MIN
enum mode {
MOTOR_MANUAL,
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 int16_t m3_old=SHRT_MIN;
static int16_t m4_old=SHRT_MIN;
- error_state = ~((PIND & 0x40)>>3 | (PINB & 0x07)) & 0xf;
+ 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
uint8_t tmp=PORTC;
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
uint8_t tmp=PORTC;
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;
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;
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 - speed1;
esum1+=e;
motor1 = KP*e + KI*PID_T*esum1 + KD/PID_T*(e - eold1);
eold1 = e;
- if (motor1 > 0 && speed1_wish < 0) motor1=0;
- else if (motor1 < 0 && speed1_wish > 0) motor1=0;
+ 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 - speed2;
esum2+=e;
motor2 = KP*e + KI*PID_T*esum2 + KD/PID_T*(e - eold2);
eold2 = e;
- if (motor2 > 0 && speed2_wish < 0) motor2=0;
- else if (motor2 < 0 && speed2_wish > 0) motor2=0;
+ 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;
- esum3 = 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=0;
- else if (motor3 < 0 && speed3_wish > 0) motor3=0;
+ 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;
- esum4 = 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=0;
- else if (motor4 < 0 && speed4_wish > 0) motor4=0;
+ 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;
}
if (aft_handicap > 0) {
speed1_wish = speed_wish_left * (100-aft_handicap)/100.0;
- speed4_wish = speed_wish_right * (100-aft_handicap)/100.0;
+ speed3_wish = speed_wish_right * (100-aft_handicap)/100.0;
} else {
speed1_wish = speed_wish_left;
- speed4_wish = speed_wish_right;
+ speed3_wish = speed_wish_right;
}
if (front_handicap > 0) {
speed2_wish = speed_wish_left * (100-front_handicap)/100.0;
- speed3_wish = speed_wish_right * (100-front_handicap)/100.0;
+ speed4_wish = speed_wish_right * (100-front_handicap)/100.0;
} else {
speed2_wish = speed_wish_left;
- speed3_wish = speed_wish_right;
+ speed4_wish = speed_wish_right;
}
motor1_mode = MOTOR_PID;
motor2_mode = MOTOR_PID;