X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=avr%2Fmotor_ctrl%2Fmain.c;h=e8c3d3f4346d9a6f1dbe1d305d9537ebed753127;hp=479770a49e404a392faec9696ee555fdb76139e3;hb=0622f0aa00918665a37b8fdfdf812a8127b55269;hpb=f0107d7c53dc0e5d8c0c46311ce92f9fb17027e3

diff --git a/avr/motor_ctrl/main.c b/avr/motor_ctrl/main.c
index 479770a..e8c3d3f 100644
--- a/avr/motor_ctrl/main.c
+++ b/avr/motor_ctrl/main.c
@@ -101,9 +101,9 @@
 #define TWI_RESET	TWCR &= ~((1 << TWSTO) | (1 << TWEN)); TWI_ACK
 #define TWI_NAK		TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE)
 
-#define KP 0.009
-#define KI 0.051429
-#define KD 0.000378
+#define KP 0.045
+#define KI 2.298
+#define KD 0.0004
 #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
@@ -162,6 +162,7 @@ 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 error_state=0;
 
 ISR(TWI_vect)
 {
@@ -570,7 +571,7 @@ ISR(TWI_vect)
 					TWI_ACK;
 					break;
 				case 0xA1: // TLE Error status
-					TWDR = ~((PIND & 0x40)>>3 | (PINB & 0x07)) & 0xf;
+					TWDR = error_state;
 					TWI_ACK;
 					break;
 				case 0xA2: // count test
@@ -670,6 +671,37 @@ 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;
+
+	if (motor1_mode == MOTOR_PID && bit_is_set(error_state, 0)) {
+		// if error and running: stop
+	      	if (m1_old != 0) motor1 = 0;
+		// if we start motor in error state: start with full power
+		else if (motor1 > 0) motor1 = 255;
+		else if (motor1 < 0) motor1 = -255;
+	}
+	if (motor2_mode == MOTOR_PID && bit_is_set(error_state, 1)) {
+		// if error and running: stop
+	      	if (m2_old != 0) motor2 = 0;
+		// if we start motor in error state: start with full power
+		else if (motor2 > 0) motor2 = 255;
+		else if (motor2 < 0) motor2 = -255;
+	}
+	if (motor3_mode == MOTOR_PID && bit_is_set(error_state, 2)) {
+		// if error and running: stop
+	      	if (m3_old != 0) motor3 = 0;
+		// if we start motor in error state: start with full power
+		else if (motor3 > 0) motor3 = 255;
+		else if (motor3 < 0) motor3 = -255;
+	}
+	if (motor4_mode == MOTOR_PID && bit_is_set(error_state, 3)) {
+		// if error and running: stop
+	      	if (m4_old != 0) motor4 = 0;
+		// if we start motor in error state: start with full power
+		else if (motor4 > 0) motor4 = 255;
+		else if (motor4 < 0) motor4 = -255;
+	}
+
 	if (m1_old != motor1) { // update only when changed
 		if (motor1 == 0) {
 			// stop
@@ -829,7 +861,7 @@ static void update_pid(void) {
 		} else {
 			int16_t e = speed1_wish - speed1;
 			esum1+=e;
-			motor1 += KP*e + KI*PID_T*esum1 + KD/PID_T*(e - eold1);
+			motor1 = KP*e + KI*PID_T*esum1 + KD/PID_T*(e - eold1);
 			eold1 = e;
 
                         if (motor1 > 255) motor1 = 255;
@@ -844,7 +876,7 @@ static void update_pid(void) {
 		} else {
 			int16_t e = speed2_wish - speed2;
 			esum2+=e;
-			motor2 += KP*e + KI*PID_T*esum2 + KD/PID_T*(e - eold2);
+			motor2 = KP*e + KI*PID_T*esum2 + KD/PID_T*(e - eold2);
 			eold2 = e;
 
                         if (motor2 > 255) motor2 = 255;
@@ -859,7 +891,7 @@ static void update_pid(void) {
 		} else {
 			int16_t e = speed3_wish - speed3;
 			esum3+=e;
-			motor3 += KP*e + KI*PID_T*esum3 + KD/PID_T*(e - eold3);
+			motor3 = KP*e + KI*PID_T*esum3 + KD/PID_T*(e - eold3);
 			eold3 = e;
 
                         if (motor3 > 255) motor3 = 255;
@@ -874,7 +906,7 @@ static void update_pid(void) {
 		} else {
 			int16_t e = speed4_wish - speed4;
 			esum4+=e;
-			motor4 += KP*e + KI*PID_T*esum4 + KD/PID_T*(e - eold4);
+			motor4 = KP*e + KI*PID_T*esum4 + KD/PID_T*(e - eold4);
 			eold4 = e;
 
                         if (motor4 > 255) motor4 = 255;