X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=avr%2Fmotor_ctrl%2Fmain.c;h=abbf5386146205c5b52c55780f9b971015ecf2be;hp=3dca8cc80bb9fa380d3e9f0d3689a31d28929b09;hb=c3db2ea74a51a2623b04d4bc5796c39be2e28453;hpb=8786ef14dfb5b65efa0a260d91e569aa819aac14

diff --git a/avr/motor_ctrl/main.c b/avr/motor_ctrl/main.c
index 3dca8cc..abbf538 100644
--- a/avr/motor_ctrl/main.c
+++ b/avr/motor_ctrl/main.c
@@ -101,15 +101,16 @@
 #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
+#define PWM_BREAK INT16_MIN
 
 enum mode {
 	MOTOR_MANUAL,
@@ -149,6 +150,10 @@ 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;
@@ -694,6 +699,8 @@ static void update_motor(void) {
 		if (motor1 == 0) {
 			// stop
 			PORTC &= ~(1 << 3) & ~(1 << 2);
+		} else if (motor1 == PWM_BREAK) {
+			PORTC |= (1 << 3) | (1 << 2);
 		} else if ((!motor1_switch && motor1 > 0) || (motor1_switch && motor1 < 0)) {
 			// forward
 			uint8_t tmp=PORTC;
@@ -716,6 +723,8 @@ static void update_motor(void) {
 		if (motor2 == 0) {
 			// stop
 			PORTC &= ~(1 << 5) & ~(1 << 4);
+		} else if (motor2 == PWM_BREAK) {
+			PORTC |= (1 << 5) | (1 << 4);
 		} else if ((!motor2_switch && motor2 > 0) || (motor2_switch && motor2 < 0)) {
 			// forward
 			uint8_t tmp=PORTC;
@@ -738,6 +747,8 @@ static void update_motor(void) {
 		if (motor3 == 0) {
 			// stop
 			PORTC &= ~(1 << 7) & ~(1 << 6);
+		} else if (motor3 == PWM_BREAK) {
+			PORTC |= (1 << 7) | (1 << 6);
 		} else if ((!motor3_switch && motor3 > 0) || (motor3_switch && motor3 < 0)) {
 			// forward
 			uint8_t tmp=PORTC;
@@ -760,6 +771,8 @@ static void update_motor(void) {
 		if (motor4 == 0) {
 			// stop
 			PORTD &= ~(1 << 3) & ~(1 << 2);
+		} else if (motor4 == PWM_BREAK) {
+			PORTD |= (1 << 3) | (1 << 2);
 		} else if ((!motor4_switch && motor4 > 0) || (motor4_switch && motor4 < 0)) {
 			// forward
 			uint8_t tmp=PORTD;
@@ -859,26 +872,26 @@ static void update_pid(void) {
 	static int32_t esum4=0;
 
 	// protect motors from damage if stalling
-	if (labs(esum1) > 120000 && speed1 == 0) {
+	if (labs(esum1) > 140000 && speed1 == 0) {
 		motor1 = 0;
 		motor1_mode = MOTOR_MANUAL;
 		error_state |= (1<<4);
 		esum1 = 0;
 	}	
-	if (labs(esum2) > 120000 && speed2 == 0) {
+	if (labs(esum2) > 140000 && speed2 == 0) {
 		motor2 = 0;
 		motor2_mode = MOTOR_MANUAL;
 		error_state |= (1<<5);
 		esum2 = 0;
 	}	
-	if (labs(esum3) > 120000 && speed3 == 0) {
+	if (labs(esum3) > 140000 && 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) {
+	if (labs(esum4) > 140000 && speed4 == 0) {
 		motor4 = 0;
 		motor4_mode = MOTOR_MANUAL;
 		error_state |= (1<<7);
@@ -886,10 +899,14 @@ static void update_pid(void) {
 	}	
 
 	if (motor1_mode == MOTOR_PID) {
+		if (speed1_wish != speed1_wish_old) {
+			if (abs(speed1_wish - speed1_wish_old) > 500) 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;
@@ -897,17 +914,21 @@ static void update_pid(void) {
 			motor1 = KP*e + KI*PID_T*esum1 + KD/PID_T*(e - eold1);
 			eold1 = e;
 
-			if (motor1 > 0 && speed1_wish < 0) motor1=0;
-			else if (motor1 < 0 && speed1_wish > 0) motor1=0;
+			if (motor1 > 0 && speed1_wish < 0) motor1=PWM_BREAK;
+			else if (motor1 < 0 && speed1_wish > 0) motor1=PWM_BREAK;
 			else if (motor1 > 255) motor1 = 255;
 			else if (motor1 < -255) motor1 = -255;
 		}
 	}
 	if (motor2_mode == MOTOR_PID) {
+		if (speed2_wish != speed2_wish_old) {
+			if (abs(speed2_wish - speed2_wish_old) > 500) 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;
@@ -915,17 +936,21 @@ static void update_pid(void) {
 			motor2 = KP*e + KI*PID_T*esum2 + KD/PID_T*(e - eold2);
 			eold2 = e;
 
-			if (motor2 > 0 && speed2_wish < 0) motor2=0;
-			else if (motor2 < 0 && speed2_wish > 0) motor2=0;
+			if (motor2 > 0 && speed2_wish < 0) motor2=PWM_BREAK;
+			else if (motor2 < 0 && speed2_wish > 0) motor2=PWM_BREAK;
 			else if (motor2 > 255) motor2 = 255;
 			else if (motor2 < -255) motor2 = -255;
 		}
 	}
 	if (motor3_mode == MOTOR_PID) {
+		if (speed3_wish != speed3_wish_old) {
+			if (abs(speed3_wish - speed3_wish_old) > 500) 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;
@@ -933,17 +958,21 @@ static void update_pid(void) {
 			motor3 = KP*e + KI*PID_T*esum3 + KD/PID_T*(e - eold3);
 			eold3 = e;
 
-			if (motor3 > 0 && speed3_wish < 0) motor3=0;
-			else if (motor3 < 0 && speed3_wish > 0) motor3=0;
+			if (motor3 > 0 && speed3_wish < 0) motor3=PWM_BREAK;
+			else if (motor3 < 0 && speed3_wish > 0) motor3=PWM_BREAK;
 			else if (motor3 > 255) motor3 = 255;
 			else if (motor3 < -255) motor3 = -255;
 		}
 	}
 	if (motor4_mode == MOTOR_PID) {
+		if (speed4_wish != speed4_wish_old) {
+			if (abs(speed4_wish - speed4_wish_old) > 500) 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;
@@ -951,8 +980,8 @@ static void update_pid(void) {
 			motor4 = KP*e + KI*PID_T*esum4 + KD/PID_T*(e - eold4);
 			eold4 = e;
 
-			if (motor4 > 0 && speed4_wish < 0) motor4=0;
-			else if (motor4 < 0 && speed4_wish > 0) motor4=0;
+			if (motor4 > 0 && speed4_wish < 0) motor4=PWM_BREAK;
+			else if (motor4 < 0 && speed4_wish > 0) motor4=PWM_BREAK;
 			else if (motor4 > 255) motor4 = 255;
 			else if (motor4 < -255) motor4 = -255;
 		}