X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=avr%2Fmotor_ctrl%2Fmain.c;h=048fab01bbf645fe7ee949cb20045b8e878b5dab;hp=2ec14a12c6c26f2d581f9919a868765bb07e3527;hb=9600299d1815cb14a3f49c72c4266adc1f471bcb;hpb=cb29fa4ba7d1492c9f91752a7a07b512fee7dad0

diff --git a/avr/motor_ctrl/main.c b/avr/motor_ctrl/main.c
index 2ec14a1..048fab0 100644
--- a/avr/motor_ctrl/main.c
+++ b/avr/motor_ctrl/main.c
@@ -60,7 +60,6 @@
  * 0x3D Angle (rad/s)
  * 0x3E Angle (rad/s)
  * 0x3F Angle (rad/s) LSB
- * free
  * 0x40 Position x (m) MSB
  * 0x41 Position x (m)
  * 0x42 Position x (m)
@@ -87,8 +86,8 @@
  * 0x91 Motor 2 switch
  * 0x92 Motor 3 switch
  * 0x93 Motor 4 switch
- * 0x94 Front Handicap backward
- * 0x95 Aft Handicap forward
+ * 0x94 Front Handicap
+ * 0x95 Aft Handicap
  * free
  * 0xA0 Reset reason
  * 0xA1 TLE Error status
@@ -102,9 +101,9 @@
 #define TWI_RESET	TWCR &= ~((1 << TWSTO) | (1 << TWEN)); TWI_ACK
 #define TWI_NAK		TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE)
 
-#define KP 0.009
-#define KI 0.051429
-#define KD 0.000378
+#define KP 0.045
+#define KI 2.298
+#define KD 0.0004
 #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
@@ -161,8 +160,9 @@ 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_bwd=0;
-static volatile uint8_t aft_handicap_fwd=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)
 {
@@ -347,13 +347,13 @@ ISR(TWI_vect)
 					motor4_switch = TWDR;
 					TWI_ACK;
 					break;
-				case 0x94: // Front Handicap backward
-					front_handicap_bwd = TWDR;
+				case 0x94: // Front Handicap
+					front_handicap = TWDR;
 					cmd_vel.bUpdate = 1;
 					TWI_ACK;
 					break;
-				case 0x95: // Aft Handicap forward
-					aft_handicap_fwd = TWDR;
+				case 0x95: // Aft Handicap
+					aft_handicap = TWDR;
 					cmd_vel.bUpdate = 1;
 					TWI_ACK;
 					break;
@@ -571,7 +571,7 @@ ISR(TWI_vect)
 					TWI_ACK;
 					break;
 				case 0xA1: // TLE Error status
-					TWDR = ~((PIND & 0x40)>>3 | (PINB & 0x07)) & 0xf;
+					TWDR = error_state;
 					TWI_ACK;
 					break;
 				case 0xA2: // count test
@@ -671,6 +671,20 @@ static void update_motor(void) {
 	static int16_t m3_old=SHRT_MIN;
 	static int16_t m4_old=SHRT_MIN;
 
+	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 (m1_old != motor1) { // update only when changed
 		if (motor1 == 0) {
 			// stop
@@ -830,7 +844,7 @@ static void update_pid(void) {
 		} else {
 			int16_t e = speed1_wish - speed1;
 			esum1+=e;
-			motor1 += KP*e + KI*PID_T*esum1 + KD/PID_T*(e - eold1);
+			motor1 = KP*e + KI*PID_T*esum1 + KD/PID_T*(e - eold1);
 			eold1 = e;
 
                         if (motor1 > 255) motor1 = 255;
@@ -845,7 +859,7 @@ static void update_pid(void) {
 		} else {
 			int16_t e = speed2_wish - speed2;
 			esum2+=e;
-			motor2 += KP*e + KI*PID_T*esum2 + KD/PID_T*(e - eold2);
+			motor2 = KP*e + KI*PID_T*esum2 + KD/PID_T*(e - eold2);
 			eold2 = e;
 
                         if (motor2 > 255) motor2 = 255;
@@ -860,7 +874,7 @@ static void update_pid(void) {
 		} else {
 			int16_t e = speed3_wish - speed3;
 			esum3+=e;
-			motor3 += KP*e + KI*PID_T*esum3 + KD/PID_T*(e - eold3);
+			motor3 = KP*e + KI*PID_T*esum3 + KD/PID_T*(e - eold3);
 			eold3 = e;
 
                         if (motor3 > 255) motor3 = 255;
@@ -875,7 +889,7 @@ static void update_pid(void) {
 		} else {
 			int16_t e = speed4_wish - speed4;
 			esum4+=e;
-			motor4 += KP*e + KI*PID_T*esum4 + KD/PID_T*(e - eold4);
+			motor4 = KP*e + KI*PID_T*esum4 + KD/PID_T*(e - eold4);
 			eold4 = e;
 
                         if (motor4 > 255) motor4 = 255;
@@ -968,26 +982,20 @@ int main(void) {
 			speed_wish_left*=STEP_PER_M_LEFT;
 			speed_wish_right*=STEP_PER_M_RIGHT;
 
-			if (speed_wish_left > 0 && aft_handicap_fwd > 0) {
-				speed1_wish = speed_wish_left * (100-aft_handicap_fwd)/100.0;
+			if (aft_handicap > 0) {
+				speed1_wish = speed_wish_left * (100-aft_handicap)/100.0;
+				speed4_wish = speed_wish_right * (100-aft_handicap)/100.0;
 			} else {
 				speed1_wish = speed_wish_left;
+				speed4_wish = speed_wish_right;
 			}
-			if (speed_wish_left < 0 && front_handicap_bwd > 0) {
-				speed2_wish = speed_wish_left * (100-front_handicap_bwd)/100.0;
+			if (front_handicap > 0) {
+				speed2_wish = speed_wish_left * (100-front_handicap)/100.0;
+				speed3_wish = speed_wish_right * (100-front_handicap)/100.0;
 			} else {
 				speed2_wish = speed_wish_left;
-			}
-			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 (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;
-			}
 			motor1_mode = MOTOR_PID;
 			motor2_mode = MOTOR_PID;
 			motor3_mode = MOTOR_PID;