X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=avr%2Fmotor_ctrl%2Fmain.c;h=d40347996ff5d4065a4d1f8f8d5b68642ce55d62;hp=bd9fc9e31d634c73f3e622b3508db4d850e4ae3d;hb=483eaf7aa8ff347bee867cc5e79196cbe6e33dc3;hpb=bd5ce223f2fe077a697352c44a366a33d1f692f0

diff --git a/avr/motor_ctrl/main.c b/avr/motor_ctrl/main.c
index bd9fc9e..d403479 100644
--- a/avr/motor_ctrl/main.c
+++ b/avr/motor_ctrl/main.c
@@ -106,8 +106,8 @@
 #define KI 0.051429
 #define KD 0.000378
 #define PID_T 0.01
-#define STEP_PER_M 3376.1 // wheel diameter=12cm, encoder=48cpr, gear ratio=1:34
-#define WHEEL_DIST 0.252
+#define STEP_PER_M 4171.4 // wheel diameter=12cm, encoder=48cpr, gear ratio=1:34, calculated wheel diameter: 0.12454m
+#define WHEEL_DIST 0.36923 // Real: 0.252
 
 enum mode {
 	MOTOR_MANUAL,
@@ -778,7 +778,7 @@ static void update_pos(void) {
 
 	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;