X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=avr%2Fmotor_ctrl%2Fmain.c;h=2ec14a12c6c26f2d581f9919a868765bb07e3527;hp=8fc3fdbf74b51328dc4f3641e242422ff21000b6;hb=cb29fa4ba7d1492c9f91752a7a07b512fee7dad0;hpb=b022c849f0b973f34c35d5e1cd9f85fea06598dd diff --git a/avr/motor_ctrl/main.c b/avr/motor_ctrl/main.c index 8fc3fdb..2ec14a1 100644 --- a/avr/motor_ctrl/main.c +++ b/avr/motor_ctrl/main.c @@ -87,7 +87,12 @@ * 0x91 Motor 2 switch * 0x92 Motor 3 switch * 0x93 Motor 4 switch - * 0x94 TLE Error status + * 0x94 Front Handicap backward + * 0x95 Aft Handicap forward + * free + * 0xA0 Reset reason + * 0xA1 TLE Error status + * 0xA2 count test * free * 0xff Bootloader */ @@ -101,8 +106,11 @@ #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 +// 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 enum mode { MOTOR_MANUAL, @@ -114,6 +122,12 @@ typedef union { uint32_t i; } ufloat_t; +static volatile struct { + float speed; + float angle; + uint8_t bUpdate; +} cmd_vel = {0, 0, 0}; + static volatile uint8_t ireg=0; static volatile uint8_t bootloader=0; static volatile int16_t motor1=0; // -255..+255 @@ -144,6 +158,11 @@ static volatile int16_t speed4=0; static volatile ufloat_t pos_x={0.0}; static volatile ufloat_t pos_y={0.0}; 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; ISR(TWI_vect) { @@ -251,8 +270,8 @@ ISR(TWI_vect) break; case 0x2B: // Left speed wish LSB tmp_speed.i = tmp_speed.i << 8 | TWDR; - speed1_wish = tmp_speed.f*STEP_PER_M; - speed2_wish = tmp_speed.f*STEP_PER_M; + speed1_wish = tmp_speed.f*STEP_PER_M_LEFT; + speed2_wish = tmp_speed.f*STEP_PER_M_LEFT; motor1_mode = MOTOR_PID; motor2_mode = MOTOR_PID; TWI_ACK; @@ -271,8 +290,8 @@ ISR(TWI_vect) break; case 0x2F: // Right speed wish LSB tmp_speed.i = tmp_speed.i << 8 | TWDR; - speed1_wish = tmp_speed.f*STEP_PER_M; - speed2_wish = tmp_speed.f*STEP_PER_M; + speed1_wish = tmp_speed.f*STEP_PER_M_RIGHT; + speed2_wish = tmp_speed.f*STEP_PER_M_RIGHT; motor1_mode = MOTOR_PID; motor2_mode = MOTOR_PID; TWI_ACK; @@ -291,6 +310,7 @@ ISR(TWI_vect) break; case 0x53: // speed wish LSB tmp_speed.i = tmp_speed.i << 8 | TWDR; + cmd_vel.speed = tmp_speed.f; TWI_ACK; break; case 0x54: // angle wish MSB @@ -307,18 +327,8 @@ ISR(TWI_vect) break; case 0x57: // angle wish LSB tmp_angle.i = tmp_angle.i << 8 | TWDR; - { - float speed_wish_right = tmp_angle.f*M_PI*WHEEL_DIST/2 + tmp_speed.f; - float speed_wish_left = tmp_speed.f*2-speed_wish_right; - speed1_wish = speed_wish_left*STEP_PER_M; - speed2_wish = speed_wish_left*STEP_PER_M; - speed3_wish = speed_wish_right*STEP_PER_M; - speed4_wish = speed_wish_right*STEP_PER_M; - } - motor1_mode = MOTOR_PID; - motor2_mode = MOTOR_PID; - motor3_mode = MOTOR_PID; - motor4_mode = MOTOR_PID; + cmd_vel.angle = tmp_angle.f; + cmd_vel.bUpdate = 1; TWI_ACK; break; case 0x90: // Motor 1 switch @@ -337,6 +347,16 @@ ISR(TWI_vect) motor4_switch = TWDR; TWI_ACK; 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 bootloader = TWDR; default: @@ -464,12 +484,7 @@ ISR(TWI_vect) TWI_ACK; break; case 0x38: // speed MSB - { - int16_t speed_l = (speed3+speed4)/2; - int16_t speed_r = (speed1+speed2)/2; - tmp_speed.f = (speed_l + speed_r)/(2.0*STEP_PER_M); - tmp_angle.f = (speed_r - speed_l)/(M_PI*WHEEL_DIST*STEP_PER_M); - } + tmp_speed.f = cur_speed_lin; TWDR = tmp_speed.i>>24; TWI_ACK; break; @@ -486,6 +501,7 @@ ISR(TWI_vect) TWI_ACK; break; case 0x3C: // angle MSB + tmp_angle.f = cur_speed_rot; TWDR = tmp_angle.i>>24; TWI_ACK; break; @@ -534,25 +550,33 @@ ISR(TWI_vect) TWI_ACK; break; case 0x48: // Position angle MSB - TWDR = pos_y.i>>24; + TWDR = angle.i>>24; TWI_ACK; break; case 0x49: // Position angle - TWDR = pos_y.i>>16; + TWDR = angle.i>>16; TWI_ACK; break; case 0x4A: // Position angle - TWDR = pos_y.i>>8; + TWDR = angle.i>>8; TWI_ACK; break; case 0x4B: // Position angle LSB - TWDR = pos_y.i; + TWDR = angle.i; TWI_ACK; break; - case 0x94: // TLE Error status - TWDR = (PIND & 0x40)>>2 | (PINB & 0x07); + case 0xA0: // Reset reason + TWDR = MCUCSR & 0x0f; + MCUCSR = 0x0; TWI_ACK; break; + case 0xA1: // TLE Error status + TWDR = ~((PIND & 0x40)>>3 | (PINB & 0x07)) & 0xf; + TWI_ACK; + break; + case 0xA2: // count test + TWDR = count_test; + TWI_ACK; default: TWDR = 0; TWI_NAK; @@ -727,38 +751,64 @@ static void update_pos(void) { int16_t pos3_diff; int16_t pos4_diff; float diff_left_m, diff_right_m, angle_diff, translation; + float pos_x_new, pos_y_new, angle_new; + int16_t speed_l, speed_r; + float tmp_speed_lin, tmp_speed_rot; + int16_t cur_pos1, cur_pos2, cur_pos3, cur_pos4; + int16_t new_speed1, new_speed2, new_speed3, new_speed4; + + // copy to tmp + cli(); + cur_pos1 = pos1; + cur_pos2 = pos2; + cur_pos3 = pos3; + cur_pos4 = pos4; + sei(); + + pos1_diff = cur_pos1 - pos1_last; + pos2_diff = cur_pos2 - pos2_last; + pos3_diff = cur_pos3 - pos3_last; + pos4_diff = cur_pos4 - pos4_last; + + new_speed1 = pos1_diff/PID_T; + new_speed2 = pos2_diff/PID_T; + new_speed3 = pos3_diff/PID_T; + new_speed4 = pos4_diff/PID_T; - //cli(); - pos1_diff = pos1 - pos1_last; - pos2_diff = pos2 - pos2_last; - pos3_diff = pos3 - pos3_last; - pos4_diff = pos4 - pos4_last; - speed1 = pos1_diff/PID_T; - speed2 = pos2_diff/PID_T; - speed3 = pos3_diff/PID_T; - speed4 = pos4_diff/PID_T; - //sei(); - - diff_left_m = (pos1_diff + pos2_diff)/(2*STEP_PER_M); - diff_right_m = (pos3_diff + pos4_diff)/(2*STEP_PER_M); + diff_left_m = (pos1_diff + pos2_diff)/(2*STEP_PER_M_LEFT); + diff_right_m = (pos3_diff + pos4_diff)/(2*STEP_PER_M_RIGHT); angle_diff = (diff_right_m - diff_left_m) / WHEEL_DIST; - //cli(); - angle.f+=angle_diff; - if (angle.f > 2*M_PI) angle.f-=2*M_PI; - else if (angle.f < 2*M_PI) angle.f+=2*M_PI; - //sei(); - - //cli(); + 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; + translation = (diff_left_m + diff_right_m)/2.0; - pos_x.f += cos(angle.f)*translation; - pos_y.f += sin(angle.f)*translation; - //sei(); - - pos1_last = pos1; - pos2_last = pos2; - pos3_last = pos3; - pos4_last = pos4; + pos_x_new = pos_x.f + cos(angle_new)*translation; + pos_y_new = pos_y.f + sin(angle_new)*translation; + + speed_l = (new_speed1+new_speed2)/2; + speed_r = (new_speed3+new_speed4)/2; + tmp_speed_lin = (speed_l + speed_r)/(2.0*STEP_PER_M_AVG); + tmp_speed_rot = (speed_r - speed_l)/(M_PI*WHEEL_DIST*STEP_PER_M_AVG); + + // copy from tmp + cli(); + angle.f = angle_new; + pos_x.f = pos_x_new; + pos_y.f = pos_y_new; + speed1 = new_speed1; + speed2 = new_speed2; + speed3 = new_speed3; + speed4 = new_speed4; + cur_speed_lin = tmp_speed_lin; + cur_speed_rot = tmp_speed_rot; + sei(); + + pos1_last = cur_pos1; + pos2_last = cur_pos2; + pos3_last = cur_pos3; + pos4_last = cur_pos4; } @@ -775,6 +825,8 @@ static void update_pid(void) { if (motor1_mode == MOTOR_PID) { if (speed1_wish == 0) { motor1 = 0; + eold1 = 0; + esum1 = 0; } else { int16_t e = speed1_wish - speed1; esum1+=e; @@ -788,6 +840,8 @@ static void update_pid(void) { if (motor2_mode == MOTOR_PID) { if (speed2_wish == 0) { motor2 = 0; + eold2 = 0; + esum2 = 0; } else { int16_t e = speed2_wish - speed2; esum2+=e; @@ -801,6 +855,8 @@ static void update_pid(void) { if (motor3_mode == MOTOR_PID) { if (speed3_wish == 0) { motor3 = 0; + eold3 = 0; + esum3 = 0; } else { int16_t e = speed3_wish - speed3; esum3+=e; @@ -814,6 +870,8 @@ static void update_pid(void) { if (motor4_mode == MOTOR_PID) { if (speed4_wish == 0) { motor4 = 0; + eold4 = 0; + esum4 = 0; } else { int16_t e = speed4_wish - speed4; esum4+=e; @@ -842,6 +900,9 @@ int main(void) { DDRB = (1 << 3); DDRC = (1 << 7) | (1 << 6) | (1 << 5) | (1 << 4) | (1 << 3) | (1 << 2); DDRD = (1 << 7) | (1 << 5) | (1 << 4) | (1 << 3) | (1 << 2); + // Pullup TLEs EF + PORTB = (1 << 0) | (1 << 1) | (1 << 2); + PORTD = (1 << 6); bootloader = 0x00; setup_uart(9600); @@ -860,13 +921,13 @@ int main(void) { OCR1B = 0; // Motor 3 - // Timer 2: Fast PWM inverting mode, Top=256 => 15.625kHz + // Timer 2: Fast PWM inverting mode, Top=256 // Prescaler=1 TCCR2 = (1 << WGM21) | (1 << WGM20) | (1 << COM21) | (1 << COM20) | (1 << CS20); OCR2 = 0; // Motor 4 - // Timer 0: Fast PWM inverting mode, Top=256 => 15.625kHz + // Timer 0: Fast PWM inverting mode, Top=256 // Prescaler=1 TCCR0 = (1 << WGM01) | (1 << WGM00) | (1 << COM01) | (1 << COM00) | (1 << CS00); OCR0 = 0; @@ -890,7 +951,48 @@ int main(void) { } break; } - + + if (cmd_vel.bUpdate) { + float speed_wish_right, speed_wish_left; + float speed, angle; + + cli(); + speed = cmd_vel.speed; + angle = cmd_vel.angle; + cmd_vel.bUpdate = 0; + sei(); + + speed_wish_right = angle*M_PI*WHEEL_DIST/2 + speed; + speed_wish_left = speed*2-speed_wish_right; + + 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; + } else { + speed1_wish = speed_wish_left; + } + 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 (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; + motor4_mode = MOTOR_PID; + } if (run_update >= 156) { // ~100Hz run_update=0; @@ -898,6 +1000,7 @@ int main(void) { update_pos(); update_pid(); update_motor(); + count_test++; } sleep_mode();