fix motor direction after error state

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

diff --git a/avr/motor_ctrl/main.c b/avr/motor_ctrl/main.c
index 048fab01bbf645fe7ee949cb20045b8e878b5dab..e8c3d3f4346d9a6f1dbe1d305d9537ebed753127 100644 (file)
--- a/avr/motor_ctrl/main.c
+++ b/avr/motor_ctrl/main.c
@@ -673,17 +673,34 @@ static void update_motor(void) {
 
        error_state = ~((PIND & 0x40)>>3 | (PINB & 0x07)) & 0xf;
 
-       // if error and running: stop
-       if (motor1_mode == MOTOR_PID && bit_is_set(error_state, 0) && m1_old != 0) motor1 = 0;
-       if (motor2_mode == MOTOR_PID && bit_is_set(error_state, 1) && m2_old != 0) motor2 = 0;
-       if (motor3_mode == MOTOR_PID && bit_is_set(error_state, 2) && m3_old != 0) motor3 = 0;
-       if (motor4_mode == MOTOR_PID && bit_is_set(error_state, 3) && m4_old != 0) motor4 = 0;
-
-       // if we start motor in error state: start with full power
-       if (motor1_mode == MOTOR_PID && bit_is_set(error_state, 0) && m1_old == 0 && motor1 != 0) motor1 = 255;
-       if (motor2_mode == MOTOR_PID && bit_is_set(error_state, 1) && m2_old == 0 && motor2 != 0) motor2 = 255;
-       if (motor3_mode == MOTOR_PID && bit_is_set(error_state, 2) && m3_old == 0 && motor3 != 0) motor3 = 255;
-       if (motor4_mode == MOTOR_PID && bit_is_set(error_state, 3) && m4_old == 0 && motor4 != 0) motor4 = 255;
+       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 (motor3_mode == MOTOR_PID && bit_is_set(error_state, 2)) {
+               // if error and running: stop
+               if (m3_old != 0) motor3 = 0;
+               // if we start motor in error state: start with full power
+               else if (motor3 > 0) motor3 = 255;
+               else if (motor3 < 0) motor3 = -255;
+       }
+       if (motor4_mode == MOTOR_PID && bit_is_set(error_state, 3)) {
+               // if error and running: stop
+               if (m4_old != 0) motor4 = 0;
+               // if we start motor in error state: start with full power
+               else if (motor4 > 0) motor4 = 255;
+               else if (motor4 < 0) motor4 = -255;
+       }
 
        if (m1_old != motor1) { // update only when changed
                if (motor1 == 0) {