X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=avr%2Fmotor_ctrl%2Fmain.c;h=6d9f620c672151732547f12d40e904319c4134a3;hp=576d57c1c7d75d22b286f462f6c3618c57f61b3c;hb=581514e44d63392698ca47b9e50d0288e3fadbdb;hpb=8217c6feeab407f201dd55ea7be27ff51ed62c27

diff --git a/avr/motor_ctrl/main.c b/avr/motor_ctrl/main.c
index 576d57c..6d9f620 100644
--- a/avr/motor_ctrl/main.c
+++ b/avr/motor_ctrl/main.c
@@ -101,12 +101,12 @@
 #define TWI_RESET	TWCR &= ~((1 << TWSTO) | (1 << TWEN)); TWI_ACK
 #define TWI_NAK		TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE)
 
-#define KP 0.039
-#define KI 0.08
+#define KP 0.06
+#define KI 0.10
 #define KD 0.0
 #define PID_T 0.01
-// wheel diameter=12cm, encoder=48cpr, gear ratio=1:34, real wheel diameter: 0.12454m
-#define STEP_PER_M_AVG 4171.4
+// wheel diameter=12cm, encoder=48cpr, gear ratio=1:47, real wheel diameter: 0.12454m
+#define STEP_PER_M_AVG 5766.1
 #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
@@ -149,6 +149,10 @@ static volatile int16_t speed1_wish=0; // step/s
 static volatile int16_t speed2_wish=0;
 static volatile int16_t speed3_wish=0;
 static volatile int16_t speed4_wish=0;
+static volatile int16_t speed1_wish_old=0;
+static volatile int16_t speed2_wish_old=0;
+static volatile int16_t speed3_wish_old=0;
+static volatile int16_t speed4_wish_old=0;
 static volatile uint8_t run_update=0;
 static volatile int16_t speed1=0; // step/s
 static volatile int16_t speed2=0;
@@ -687,7 +691,8 @@ 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) {
@@ -857,11 +862,43 @@ 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 != speed1_wish_old) {
+			esum1 = 0;
+			speed1_wish_old = speed1_wish;
+		}
+
 		if (speed1_wish == 0) {
 			motor1 = 0;
 			eold1 = 0;
-			esum1 = 0;
+			error_state &= ~(1<<4);
 		} else {
 			int16_t e = speed1_wish - speed1;
 			esum1+=e;
@@ -875,10 +912,15 @@ static void update_pid(void) {
 		}
 	}
 	if (motor2_mode == MOTOR_PID) {
+		if (speed2_wish != speed2_wish_old) {
+			esum2 = 0;
+			speed2_wish_old = speed2_wish;
+		}
+
 		if (speed2_wish == 0) {
 			motor2 = 0;
 			eold2 = 0;
-			esum2 = 0;
+			error_state &= ~(1<<5);
 		} else {
 			int16_t e = speed2_wish - speed2;
 			esum2+=e;
@@ -892,10 +934,15 @@ static void update_pid(void) {
 		}
 	}
 	if (motor3_mode == MOTOR_PID) {
+		if (speed3_wish != speed3_wish_old) {
+			esum3 = 0;
+			speed3_wish_old = speed3_wish;
+		}
+
 		if (speed3_wish == 0) {
 			motor3 = 0;
 			eold3 = 0;
-			esum3 = 0;
+			error_state &= ~(1<<6);
 		} else {
 			int16_t e = speed3_wish - speed3;
 			esum3+=e;
@@ -909,10 +956,15 @@ static void update_pid(void) {
 		}
 	}
 	if (motor4_mode == MOTOR_PID) {
+		if (speed4_wish != speed4_wish_old) {
+			esum4 = 0;
+			speed4_wish_old = speed4_wish;
+		}
+
 		if (speed4_wish == 0) {
 			motor4 = 0;
 			eold4 = 0;
-			esum4 = 0;
+			error_state &= ~(1<<7);
 		} else {
 			int16_t e = speed4_wish - speed4;
 			esum4+=e;
@@ -1013,17 +1065,17 @@ 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;