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=f8a5c34b95fbb81eebca2a3e7ea923610e661c19;hb=483eaf7aa8ff347bee867cc5e79196cbe6e33dc3;hpb=7eb812cb0e80682d3266da4edac105c288f6ef16

diff --git a/avr/motor_ctrl/main.c b/avr/motor_ctrl/main.c
index f8a5c34..d403479 100644
--- a/avr/motor_ctrl/main.c
+++ b/avr/motor_ctrl/main.c
@@ -87,8 +87,8 @@
  * 0x91 Motor 2 switch
  * 0x92 Motor 3 switch
  * 0x93 Motor 4 switch
- * 0x94 Front Handicap
- * 0x95 Aft Handicap
+ * 0x94 Front Handicap backward
+ * 0x95 Aft Handicap forward
  * free
  * 0xA0 Reset reason
  * 0xA1 TLE Error status
@@ -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,
@@ -158,8 +158,8 @@ static volatile ufloat_t angle={0.0};
 static volatile float cur_speed_lin=0;
 static volatile float cur_speed_rot=0;
 static volatile uint8_t count_test=0;
-static volatile uint8_t front_handicap=0;
-static volatile uint8_t aft_handicap=0;
+static volatile uint8_t front_handicap_bwd=0;
+static volatile uint8_t aft_handicap_fwd=0;
 
 ISR(TWI_vect)
 {
@@ -344,12 +344,14 @@ ISR(TWI_vect)
 					motor4_switch = TWDR;
 					TWI_ACK;
 					break;
-				case 0x94: // Front Handicap
-					front_handicap = TWDR;
+				case 0x94: // Front Handicap backward
+					front_handicap_bwd = TWDR;
+					cmd_vel.bUpdate = 1;
 					TWI_ACK;
 					break;
-				case 0x95: // Aft Handicap
-					aft_handicap = TWDR;
+				case 0x95: // Aft Handicap forward
+					aft_handicap_fwd = TWDR;
+					cmd_vel.bUpdate = 1;
 					TWI_ACK;
 					break;
 				case 0xff: // bootloader
@@ -545,19 +547,19 @@ ISR(TWI_vect)
 					TWI_ACK;
 					break;
 				case 0x48: // Position angle MSB
-					TWDR = pos_y.i>>24;
+					TWDR = angle.i>>24;
 					TWI_ACK;
 					break;
 				case 0x49: // Position angle
-					TWDR = pos_y.i>>16;
+					TWDR = angle.i>>16;
 					TWI_ACK;
 					break;
 				case 0x4A: // Position angle
-					TWDR = pos_y.i>>8;
+					TWDR = angle.i>>8;
 					TWI_ACK;
 					break;
 				case 0x4B: // Position angle LSB
-					TWDR = pos_y.i;
+					TWDR = angle.i;
 					TWI_ACK;
 					break;
 				case 0xA0: // Reset reason
@@ -776,7 +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;
@@ -895,6 +897,9 @@ int main(void) {
 	DDRB = (1 << 3);
 	DDRC = (1 << 7) | (1 << 6) | (1 << 5) | (1 << 4) | (1 << 3) | (1 << 2);
 	DDRD = (1 << 7) | (1 << 5) | (1 << 4) | (1 << 3) | (1 << 2);
+	// Pullup TLEs EF
+	PORTB = (1 << 0) | (1 << 1) | (1 << 2);
+	PORTD = (1 << 6);
 
 	bootloader = 0x00;
 	setup_uart(9600);
@@ -960,10 +965,26 @@ int main(void) {
 			speed_wish_left*=STEP_PER_M;
 			speed_wish_right*=STEP_PER_M;
 
-			speed1_wish = speed_wish_left * (100-aft_handicap)/100.0;
-			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-aft_handicap)/100.0;
+			if (speed_wish_left > 0 && aft_handicap_fwd > 0) {
+				speed1_wish = speed_wish_left * (100-aft_handicap_fwd)/100.0;
+			} else {
+				speed1_wish = speed_wish_left;
+			}
+			if (speed_wish_left < 0 && front_handicap_bwd > 0) {
+				speed2_wish = speed_wish_left * (100-front_handicap_bwd)/100.0;
+			} else {
+				speed2_wish = speed_wish_left;
+			}
+			if (speed_wish_right < 0 && front_handicap_bwd > 0) {
+				speed3_wish = speed_wish_right * (100-front_handicap_bwd)/100.0;
+			} else {
+				speed3_wish = speed_wish_right;
+			}
+			if (speed_wish_right > 0 && aft_handicap_fwd > 0) {
+				speed4_wish = speed_wish_right * (100-aft_handicap_fwd)/100.0;
+			} else {
+				speed4_wish = speed_wish_right;
+			}
 			motor1_mode = MOTOR_PID;
 			motor2_mode = MOTOR_PID;
 			motor3_mode = MOTOR_PID;