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=f8a5c34b95fbb81eebca2a3e7ea923610e661c19;hb=f0107d7c53dc0e5d8c0c46311ce92f9fb17027e3;hpb=0e76f007287d725d81fe45a06001341e93581004

diff --git a/avr/motor_ctrl/main.c b/avr/motor_ctrl/main.c
index f8a5c34..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)
@@ -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,
@@ -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;
@@ -346,10 +348,12 @@ ISR(TWI_vect)
 					break;
 				case 0x94: // Front Handicap
 					front_handicap = TWDR;
+					cmd_vel.bUpdate = 1;
 					TWI_ACK;
 					break;
 				case 0x95: // Aft Handicap
 					aft_handicap = TWDR;
+					cmd_vel.bUpdate = 1;
 					TWI_ACK;
 					break;
 				case 0xff: // bootloader
@@ -545,19 +549,19 @@ 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 0xA0: // Reset reason
@@ -770,13 +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;
@@ -784,8 +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();
@@ -895,6 +899,9 @@ 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 +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;
 
-			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 (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 (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;
+				speed3_wish = speed_wish_right;
+			}
 			motor1_mode = MOTOR_PID;
 			motor2_mode = MOTOR_PID;
 			motor3_mode = MOTOR_PID;