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=9ca7b851471a5ee375434e817a5a1c817b814202;hb=cb29fa4ba7d1492c9f91752a7a07b512fee7dad0;hpb=66133e1fb38af4db9256a0aef0efae4dd1114df2

diff --git a/avr/motor_ctrl/main.c b/avr/motor_ctrl/main.c
index 9ca7b85..2ec14a1 100644
--- a/avr/motor_ctrl/main.c
+++ b/avr/motor_ctrl/main.c
@@ -87,8 +87,8 @@
  * 0x91 Motor 2 switch
  * 0x92 Motor 3 switch
  * 0x93 Motor 4 switch
- * 0x94 Front Handicap
- * 0x95 Aft Handicap
+ * 0x94 Front Handicap backward
+ * 0x95 Aft Handicap forward
  * free
  * 0xA0 Reset reason
  * 0xA1 TLE Error status
@@ -106,8 +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,
@@ -158,8 +161,8 @@ 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;
+static volatile uint8_t front_handicap_bwd=0;
+static volatile uint8_t aft_handicap_fwd=0;
 
 ISR(TWI_vect)
 {
@@ -267,8 +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;
@@ -287,8 +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;
@@ -344,12 +347,14 @@ ISR(TWI_vect)
 					motor4_switch = TWDR;
 					TWI_ACK;
 					break;
-				case 0x94: // Front Handicap
-					front_handicap = TWDR;
+				case 0x94: // Front Handicap backward
+					front_handicap_bwd = TWDR;
+					cmd_vel.bUpdate = 1;
 					TWI_ACK;
 					break;
-				case 0x95: // Aft Handicap
-					aft_handicap = TWDR;
+				case 0x95: // Aft Handicap forward
+					aft_handicap_fwd = TWDR;
+					cmd_vel.bUpdate = 1;
 					TWI_ACK;
 					break;
 				case 0xff: // bootloader
@@ -770,13 +775,13 @@ static void update_pos(void) {
 	new_speed3 = pos3_diff/PID_T;
 	new_speed4 = pos4_diff/PID_T;
 
-	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;
 
 	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;
+	else if (angle_new < -2*M_PI) angle_new+=2*M_PI;
 
 	translation = (diff_left_m + diff_right_m)/2.0;
 	pos_x_new = pos_x.f + cos(angle_new)*translation;
@@ -784,8 +789,8 @@ static void update_pos(void) {
 
 	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);
-	tmp_speed_rot = (speed_r - speed_l)/(M_PI*WHEEL_DIST*STEP_PER_M);
+	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();
@@ -895,6 +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);
@@ -957,13 +965,29 @@ int main(void) {
 			speed_wish_right = angle*M_PI*WHEEL_DIST/2 + speed;
 			speed_wish_left = speed*2-speed_wish_right;
 
-			speed_wish_left*=STEP_PER_M;
-			speed_wish_right*=STEP_PER_M;
+			speed_wish_left*=STEP_PER_M_LEFT;
+			speed_wish_right*=STEP_PER_M_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;
+			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;