X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=avr%2Fmotor_ctrl%2Fmain.c;h=5d655290a7e8b78cb3efd33b881eaf85fafd3bfe;hp=a9565871f0058d7f2585f28ea5f2ca64b55694ca;hb=b301eb19e6487497a8bb946c538a25aa4ee28c1d;hpb=a5fb41902fd2065d475f1b2f618c6428a44f6cd7

diff --git a/avr/motor_ctrl/main.c b/avr/motor_ctrl/main.c
index a956587..5d65529 100644
--- a/avr/motor_ctrl/main.c
+++ b/avr/motor_ctrl/main.c
@@ -97,8 +97,8 @@
  */
 
 
-#define KP 0.061
-#define KI 0.12
+#define KP 0.09
+#define KI 0.07
 #define KD 0.0
 #define PID_T 0.01
 // wheel diameter=12cm, encoder=48cpr, gear ratio=1:47
@@ -109,6 +109,7 @@
 #define STEP_PER_M_RIGHT (STEP_PER_M)
 #define WHEEL_DIST 0.39912 // Measured: 0.252
 #define PWM_BREAK INT16_MIN
+#define STALL_LIMIT 140000
 
 #define TWI_ACK   TWCR = (1<<TWEA) | (1<<TWINT) | (1<<TWEN) | (1<<TWIE)
 #define TWI_RESET TWCR &= ~((1 << TWSTO) | (1 << TWEN)); TWI_ACK
@@ -899,25 +900,25 @@ static void update_pid(void) {
 	static int32_t esum4=0;
 
 	// protect motors from damage if stalling
-	if (labs(esum1) > 140000 && speed1 == 0) {
+	if (labs(esum1) > STALL_LIMIT && speed1 == 0) {
 		motor1 = 0;
 		motor1_mode = MOTOR_MANUAL;
 		error_state |= (1<<4);
 		esum1 = 0;
 	}	
-	if (labs(esum2) > 140000 && speed2 == 0) {
+	if (labs(esum2) > STALL_LIMIT && speed2 == 0) {
 		motor2 = 0;
 		motor2_mode = MOTOR_MANUAL;
 		error_state |= (1<<5);
 		esum2 = 0;
 	}	
-	if (labs(esum3) > 140000 && speed3 == 0) {
+	if (labs(esum3) > STALL_LIMIT && speed3 == 0) {
 		motor3 = 0;
 		motor3_mode = MOTOR_MANUAL;
 		error_state |= (1<<6);
 		esum3 = 0;
 	}	
-	if (labs(esum4) > 140000 && speed4 == 0) {
+	if (labs(esum4) > STALL_LIMIT && speed4 == 0) {
 		motor4 = 0;
 		motor4_mode = MOTOR_MANUAL;
 		error_state |= (1<<7);
@@ -1043,8 +1044,8 @@ int main(void) {
 	TWI_RESET;
 
 	// Motor 1 & 2
-	// Also used for PWM frequency TIMER1_FREQ
-	// Timer 1: Fast PWM non-inverting mode, Top=255 => 15.625kHz
+	// Also used for PWM frequency TIMER1_FREQ (F_CPU/256)
+	// Timer 1: Fast PWM non-inverting mode, Top=255 => 19.531kHz
 	// Prescaler=1
 	//TCCR1A = (1 << COM1A1) | (1 << COM1B1) | (1 << WGM10);
 	// Avoid narrow spike on extreme pwm value 0 by not setting COM1*1
@@ -1125,7 +1126,7 @@ int main(void) {
 			motor4_mode = MOTOR_PID;
 		}
 
-		if (run_update >= 156) { // TIMER1_FREQ/156 = ~100Hz
+		if (run_update >= 195) { // TIMER1_FREQ/195 = ~100Hz
 			run_update=0;
 
 			update_pos();