X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=avr%2Fmotor_ctrl%2Fmain.c;h=5c6a667f28449ca59c3ec96890a8726343a1333e;hp=2713674b951e8a8f2cd6b0c0fe28812a3bbc43a7;hb=3bc8d7f92277a953cfcee5781d5875f040d7f028;hpb=a4e84ce5a9d3245334956b761e319f9f52ee162f diff --git a/avr/motor_ctrl/main.c b/avr/motor_ctrl/main.c index 2713674..5c6a667 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) @@ -87,9 +86,11 @@ * 0x91 Motor 2 switch * 0x92 Motor 3 switch * 0x93 Motor 4 switch + * 0x94 Front Handicap + * 0x95 Aft Handicap * free * 0xA0 Reset reason - * 0xA1 TLE Error status + * 0xA1 Error status * 0xA2 count test * free * 0xff Bootloader @@ -100,12 +101,15 @@ #define TWI_RESET TWCR &= ~((1 << TWSTO) | (1 << TWEN)); TWI_ACK #define TWI_NAK TWCR = (1<>8; @@ -533,19 +566,19 @@ 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 @@ -553,8 +586,8 @@ ISR(TWI_vect) MCUCSR = 0x0; TWI_ACK; break; - case 0xA1: // TLE Error status - TWDR = ~((PIND & 0x40)>>3 | (PINB & 0x07)) & 0xf; + case 0xA1: // Error status + TWDR = error_state; TWI_ACK; break; case 0xA2: // count test @@ -654,17 +687,24 @@ 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; + if (m1_old != motor1) { // update only when changed if (motor1 == 0) { // stop - PORTC |= (1 << 3) | (1 << 2); + PORTC &= ~(1 << 3) & ~(1 << 2); } else if ((!motor1_switch && motor1 > 0) || (motor1_switch && motor1 < 0)) { // forward - PORTC &= ~(1 << 3) & ~(1 << 2); + uint8_t tmp=PORTC; + tmp &= ~(1 << 3); + tmp |= (1 << 2); + PORTC = tmp; } else { // motor1 < 0 // backward - PORTC &= ~(1 << 2); - PORTC |= (1 << 3); + uint8_t tmp=PORTC; + tmp &= ~(1 << 2); + tmp |= (1 << 3); + PORTC = tmp; } m1_old = motor1; @@ -674,14 +714,19 @@ static void update_motor(void) { if (m2_old != motor2) { // update only when changed if (motor2 == 0) { // stop - PORTC |= (1 << 5) | (1 << 4); + PORTC &= ~(1 << 5) & ~(1 << 4); } else if ((!motor2_switch && motor2 > 0) || (motor2_switch && motor2 < 0)) { // forward - PORTC &= ~(1 << 5) & ~(1 << 4); + uint8_t tmp=PORTC; + tmp &= ~(1 << 5); + tmp |= (1 << 4); + PORTC = tmp; } else { // motor2 < 0 // backward - PORTC &= ~(1 << 4); - PORTC |= (1 << 5); + uint8_t tmp=PORTC; + tmp &= ~(1 << 4); + tmp |= (1 << 5); + PORTC = tmp; } m2_old = motor2; @@ -691,14 +736,19 @@ static void update_motor(void) { if (m3_old != motor3) { // update only when changed if (motor3 == 0) { // stop - PORTC |= (1 << 7) | (1 << 6); + PORTC &= ~(1 << 7) & ~(1 << 6); } else if ((!motor3_switch && motor3 > 0) || (motor3_switch && motor3 < 0)) { // forward - PORTC &= ~(1 << 7) & ~(1 << 6); + uint8_t tmp=PORTC; + tmp &= ~(1 << 7); + tmp |= (1 << 6); + PORTC = tmp; } else { // motor3 < 0 // backward - PORTC &= ~(1 << 6); - PORTC |= (1 << 7); + uint8_t tmp=PORTC; + tmp &= ~(1 << 6); + tmp |= (1 << 7); + PORTC = tmp; } m3_old = motor3; @@ -708,14 +758,19 @@ static void update_motor(void) { if (m4_old != motor4) { // update only when changed if (motor4 == 0) { // stop - PORTD |= (1 << 3) | (1 << 2); + PORTD &= ~(1 << 3) & ~(1 << 2); } else if ((!motor4_switch && motor4 > 0) || (motor4_switch && motor4 < 0)) { // forward - PORTD &= ~(1 << 3) & ~(1 << 2); + uint8_t tmp=PORTD; + tmp &= ~(1 << 3); + tmp |= (1 << 2); + PORTD = tmp; } else { // motor4 < 0 // backward - PORTD &= ~(1 << 2); - PORTD |= (1 << 3); + uint8_t tmp=PORTD; + tmp &= ~(1 << 2); + tmp |= (1 << 3); + PORTD = tmp; } m4_old = motor4; @@ -758,13 +813,13 @@ 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; @@ -772,8 +827,8 @@ 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(); @@ -813,7 +868,7 @@ static void update_pid(void) { } else { int16_t e = speed1_wish - speed1; esum1+=e; - motor1 += KP*e + KI*PID_T*esum1 + KD/PID_T*(e - eold1); + motor1 = KP*e + KI*PID_T*esum1 + KD/PID_T*(e - eold1); eold1 = e; if (motor1 > 255) motor1 = 255; @@ -828,7 +883,7 @@ static void update_pid(void) { } else { int16_t e = speed2_wish - speed2; esum2+=e; - motor2 += KP*e + KI*PID_T*esum2 + KD/PID_T*(e - eold2); + motor2 = KP*e + KI*PID_T*esum2 + KD/PID_T*(e - eold2); eold2 = e; if (motor2 > 255) motor2 = 255; @@ -843,7 +898,7 @@ static void update_pid(void) { } else { int16_t e = speed3_wish - speed3; esum3+=e; - motor3 += KP*e + KI*PID_T*esum3 + KD/PID_T*(e - eold3); + motor3 = KP*e + KI*PID_T*esum3 + KD/PID_T*(e - eold3); eold3 = e; if (motor3 > 255) motor3 = 255; @@ -858,7 +913,7 @@ static void update_pid(void) { } else { int16_t e = speed4_wish - speed4; esum4+=e; - motor4 += KP*e + KI*PID_T*esum4 + KD/PID_T*(e - eold4); + motor4 = KP*e + KI*PID_T*esum4 + KD/PID_T*(e - eold4); eold4 = e; if (motor4 > 255) motor4 = 255; @@ -883,6 +938,9 @@ 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 Diag/Enable + PORTB = (1 << 0) | (1 << 1) | (1 << 2); + PORTD = (1 << 6); bootloader = 0x00; setup_uart(9600); @@ -893,23 +951,23 @@ int main(void) { TWI_RESET; // Motor 1 & 2 - // Timer 1: Fast PWM inverting mode, Top=256 => 15.625kHz + // Timer 1: Fast PWM non-inverting mode, Top=255 => 15.625kHz // Prescaler=1 - TCCR1A = (1 << COM1A1) | (1 << COM1B1) | (1 << COM1A0) | (1 << COM1B0) | (1 << WGM10); + TCCR1A = (1 << COM1A1) | (1 << COM1B1) | (1 << WGM10); TCCR1B = (1 << WGM12) | (1 << CS10); OCR1A = 0; OCR1B = 0; // Motor 3 - // Timer 2: Fast PWM inverting mode, Top=256 + // Timer 2: Fast PWM non-inverting mode, Top=255 // Prescaler=1 - TCCR2 = (1 << WGM21) | (1 << WGM20) | (1 << COM21) | (1 << COM20) | (1 << CS20); + TCCR2 = (1 << WGM21) | (1 << WGM20) | (1 << COM21) | (1 << CS20); OCR2 = 0; // Motor 4 - // Timer 0: Fast PWM inverting mode, Top=256 + // Timer 0: Fast PWM non-inverting mode, Top=255 // Prescaler=1 - TCCR0 = (1 << WGM01) | (1 << WGM00) | (1 << COM01) | (1 << COM00) | (1 << CS00); + TCCR0 = (1 << WGM01) | (1 << WGM00) | (1 << COM01) | (1 << CS00); OCR0 = 0; printf("\r\nStart\r\n"); @@ -945,13 +1003,23 @@ 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; - speed2_wish = speed_wish_left; - speed3_wish = speed_wish_right; - speed4_wish = speed_wish_right; + 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;