X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=avr%2Fmotor_ctrl%2Fmain.c;h=7781fb4af01654b33ea2a53df04a1bbaf63b7967;hp=d6422f12ffe17e4745319dfd3ce390cdf9a01247;hb=d55fc1ff8c77515d29610d3940f35965ff202a90;hpb=7ef5ad5888ea2ad5464bfd034843f9c2cfe0faf0

diff --git a/avr/motor_ctrl/main.c b/avr/motor_ctrl/main.c
index d6422f1..7781fb4 100644
--- a/avr/motor_ctrl/main.c
+++ b/avr/motor_ctrl/main.c
@@ -97,18 +97,19 @@
  */
 
 
-#define KP 0.061
+#define KP 0.062
 #define KI 0.12
 #define KD 0.0
 #define PID_T 0.01
 // wheel diameter=12cm, encoder=48cpr, gear ratio=1:47
 // STEP_PER_M = 48*47/(d*pi)
 // Left real diameter: 0.12808, Right real diameter: 0.121
-#define STEP_PER_M 5770.8
+#define STEP_PER_M 5573.0
 #define STEP_PER_M_LEFT (STEP_PER_M)
 #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);