X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=avr%2Fmotor_ctrl%2Fmain.c;h=3dca8cc80bb9fa380d3e9f0d3689a31d28929b09;hp=5c6a667f28449ca59c3ec96890a8726343a1333e;hb=8786ef14dfb5b65efa0a260d91e569aa819aac14;hpb=3bc8d7f92277a953cfcee5781d5875f040d7f028

diff --git a/avr/motor_ctrl/main.c b/avr/motor_ctrl/main.c
index 5c6a667..3dca8cc 100644
--- a/avr/motor_ctrl/main.c
+++ b/avr/motor_ctrl/main.c
@@ -101,8 +101,8 @@
 #define TWI_RESET	TWCR &= ~((1 << TWSTO) | (1 << TWEN)); TWI_ACK
 #define TWI_NAK		TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE)
 
-#define KP 0.025
-#define KI 2.3
+#define KP 0.039
+#define KI 0.08
 #define KD 0.0
 #define PID_T 0.01
 // wheel diameter=12cm, encoder=48cpr, gear ratio=1:34, real wheel diameter: 0.12454m
@@ -172,7 +172,7 @@ ISR(TWI_vect)
 	static ufloat_t tmp_angle;
 
 	switch (TWSR & 0xF8)
-	{  
+	{
 		case 0x60: // start write
 			TWI_ACK;
 			ireg = 0;
@@ -687,7 +687,8 @@ 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;
+	error_state &= 0xf0; // clear lower bits
+	error_state |= ~((PIND & 0x40)>>3 | (PINB & 0x07)) & 0xf;
 
 	if (m1_old != motor1) { // update only when changed
 		if (motor1 == 0) {
@@ -790,7 +791,6 @@ static void update_pos(void) {
 	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;
@@ -825,10 +825,8 @@ static void update_pos(void) {
 	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);
+	tmp_speed_lin = translation/PID_T;
+	tmp_speed_rot = angle_diff/PID_T;
 
 	// copy from tmp
 	cli();
@@ -860,18 +858,48 @@ static void update_pid(void) {
 	static int32_t esum3=0;
 	static int32_t esum4=0;
 
+	// protect motors from damage if stalling
+	if (labs(esum1) > 120000 && speed1 == 0) {
+		motor1 = 0;
+		motor1_mode = MOTOR_MANUAL;
+		error_state |= (1<<4);
+		esum1 = 0;
+	}	
+	if (labs(esum2) > 120000 && speed2 == 0) {
+		motor2 = 0;
+		motor2_mode = MOTOR_MANUAL;
+		error_state |= (1<<5);
+		esum2 = 0;
+	}	
+	if (labs(esum3) > 120000 && speed3 == 0) {
+		motor3 = 0;
+		motor3_mode = MOTOR_MANUAL;
+		error_state |= (1<<6);
+		esum3 = 0;
+	}	
+	// protect motors from damage if stalling
+	if (labs(esum4) > 120000 && speed4 == 0) {
+		motor4 = 0;
+		motor4_mode = MOTOR_MANUAL;
+		error_state |= (1<<7);
+		esum4 = 0;
+	}	
+
 	if (motor1_mode == MOTOR_PID) {
 		if (speed1_wish == 0) {
 			motor1 = 0;
 			eold1 = 0;
 			esum1 = 0;
+			error_state &= ~(1<<4);
 		} else {
 			int16_t e = speed1_wish - speed1;
 			esum1+=e;
 			motor1 = KP*e + KI*PID_T*esum1 + KD/PID_T*(e - eold1);
 			eold1 = e;
 
-                        if (motor1 > 255) motor1 = 255;
+			if (motor1 > 0 && speed1_wish < 0) motor1=0;
+			else if (motor1 < 0 && speed1_wish > 0) motor1=0;
+			else if (motor1 > 255) motor1 = 255;
 			else if (motor1 < -255) motor1 = -255;
 		}
 	}
@@ -880,13 +908,16 @@ static void update_pid(void) {
 			motor2 = 0;
 			eold2 = 0;
 			esum2 = 0;
+			error_state &= ~(1<<5);
 		} else {
 			int16_t e = speed2_wish - speed2;
 			esum2+=e;
 			motor2 = KP*e + KI*PID_T*esum2 + KD/PID_T*(e - eold2);
 			eold2 = e;
 
-                        if (motor2 > 255) motor2 = 255;
+			if (motor2 > 0 && speed2_wish < 0) motor2=0;
+			else if (motor2 < 0 && speed2_wish > 0) motor2=0;
+			else if (motor2 > 255) motor2 = 255;
 			else if (motor2 < -255) motor2 = -255;
 		}
 	}
@@ -895,13 +926,16 @@ static void update_pid(void) {
 			motor3 = 0;
 			eold3 = 0;
 			esum3 = 0;
+			error_state &= ~(1<<6);
 		} else {
 			int16_t e = speed3_wish - speed3;
 			esum3+=e;
 			motor3 = KP*e + KI*PID_T*esum3 + KD/PID_T*(e - eold3);
 			eold3 = e;
 
-                        if (motor3 > 255) motor3 = 255;
+			if (motor3 > 0 && speed3_wish < 0) motor3=0;
+			else if (motor3 < 0 && speed3_wish > 0) motor3=0;
+			else if (motor3 > 255) motor3 = 255;
 			else if (motor3 < -255) motor3 = -255;
 		}
 	}
@@ -910,13 +944,16 @@ static void update_pid(void) {
 			motor4 = 0;
 			eold4 = 0;
 			esum4 = 0;
+			error_state &= ~(1<<7);
 		} else {
 			int16_t e = speed4_wish - speed4;
 			esum4+=e;
 			motor4 = KP*e + KI*PID_T*esum4 + KD/PID_T*(e - eold4);
 			eold4 = e;
 
-                        if (motor4 > 255) motor4 = 255;
+			if (motor4 > 0 && speed4_wish < 0) motor4=0;
+			else if (motor4 < 0 && speed4_wish > 0) motor4=0;
+			else if (motor4 > 255) motor4 = 255;
 			else if (motor4 < -255) motor4 = -255;
 		}
 	}
@@ -1000,7 +1037,7 @@ int main(void) {
 			cmd_vel.bUpdate = 0;
 			sei();
 
-			speed_wish_right = angle*M_PI*WHEEL_DIST/2 + speed;
+			speed_wish_right = (angle*WHEEL_DIST)/2 + speed;
 			speed_wish_left = speed*2-speed_wish_right;
 
 			speed_wish_left*=STEP_PER_M_LEFT;
@@ -1008,17 +1045,17 @@ int main(void) {
 
 			if (aft_handicap > 0) {
 				speed1_wish = speed_wish_left * (100-aft_handicap)/100.0;
-				speed4_wish = speed_wish_right * (100-aft_handicap)/100.0;
+				speed3_wish = speed_wish_right * (100-aft_handicap)/100.0;
 			} else {
 				speed1_wish = speed_wish_left;
-				speed4_wish = speed_wish_right;
+				speed3_wish = speed_wish_right;
 			}
 			if (front_handicap > 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-front_handicap)/100.0;
 			} else {
 				speed2_wish = speed_wish_left;
-				speed3_wish = speed_wish_right;
+				speed4_wish = speed_wish_right;
 			}
 			motor1_mode = MOTOR_PID;
 			motor2_mode = MOTOR_PID;