Merge branch 'master' of ssh://vontaene/home/erik_alt/git/ros_wild_thumper

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

diff --git a/avr/motor_ctrl/main.c b/avr/motor_ctrl/main.c
index 2713674b951e8a8f2cd6b0c0fe28812a3bbc43a7..f8a5c34b95fbb81eebca2a3e7ea923610e661c19 100644 (file)
--- a/avr/motor_ctrl/main.c
+++ b/avr/motor_ctrl/main.c
@@ -87,6 +87,8 @@
  * 0x91 Motor 2 switch
  * 0x92 Motor 3 switch
  * 0x93 Motor 4 switch
+ * 0x94 Front Handicap
+ * 0x95 Aft Handicap
  * free
  * 0xA0 Reset reason
  * 0xA1 TLE Error status
@@ -156,6 +158,8 @@ 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;
 
 ISR(TWI_vect)
 {
@@ -340,6 +344,14 @@ ISR(TWI_vect)
                                        motor4_switch = TWDR;
                                        TWI_ACK;
                                        break;
+                               case 0x94: // Front Handicap
+                                       front_handicap = TWDR;
+                                       TWI_ACK;
+                                       break;
+                               case 0x95: // Aft Handicap
+                                       aft_handicap = TWDR;
+                                       TWI_ACK;
+                                       break;
                                case 0xff: // bootloader
                                        bootloader = TWDR;
                                default:
@@ -948,10 +960,10 @@ int main(void) {
                        speed_wish_left*=STEP_PER_M;
                        speed_wish_right*=STEP_PER_M;
 
-                       speed1_wish = speed_wish_left;
-                       speed2_wish = speed_wish_left;
-                       speed3_wish = speed_wish_right;
-                       speed4_wish = speed_wish_right;
+                       speed1_wish = speed_wish_left * (100-aft_handicap)/100.0;
+                       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-aft_handicap)/100.0;
                        motor1_mode = MOTOR_PID;
                        motor2_mode = MOTOR_PID;
                        motor3_mode = MOTOR_PID;