X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=avr%2Fmotor_ctrl%2Fmain.c;h=479770a49e404a392faec9696ee555fdb76139e3;hp=bd9fc9e31d634c73f3e622b3508db4d850e4ae3d;hb=f0107d7c53dc0e5d8c0c46311ce92f9fb17027e3;hpb=bd5ce223f2fe077a697352c44a366a33d1f692f0

diff --git a/avr/motor_ctrl/main.c b/avr/motor_ctrl/main.c
index bd9fc9e..479770a 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
@@ -106,8 +105,11 @@
 #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 +160,8 @@ 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_bwd=0;
-static volatile uint8_t aft_handicap_fwd=0;
+static volatile uint8_t front_handicap=0;
+static volatile uint8_t aft_handicap=0;
 
 ISR(TWI_vect)
 {
@@ -267,8 +269,8 @@ 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 +289,8 @@ 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;
@@ -344,13 +346,13 @@ 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;
@@ -772,13 +774,13 @@ 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;
@@ -786,8 +788,8 @@ 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();
@@ -962,29 +964,23 @@ 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;
 
-			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;