X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=avr%2Fmotor_ctrl%2Fmain.c;h=ec9965f68800c26812a9eadf04da5e67dd3cec81;hp=3642d4a8b222e59530eaafb28cb8a287f3dcd4da;hb=540df9f5842bf55260f494c985fd75e4c54fb7cb;hpb=f05fa64e03e9892b7a41857f71660f2a60c0a504;ds=sidebyside

diff --git a/avr/motor_ctrl/main.c b/avr/motor_ctrl/main.c
index 3642d4a..ec9965f 100644
--- a/avr/motor_ctrl/main.c
+++ b/avr/motor_ctrl/main.c
@@ -382,7 +382,7 @@ ISR(TWI_vect)
 				default:
 					TWI_NAK;
 			}
-			ireg++;
+			if (ireg < 0xff) ireg++;
 			break;
 		case TW_ST_SLA_ACK: // start read
 		case TW_ST_DATA_ACK: // read
@@ -937,7 +937,8 @@ static void update_pid(void) {
 			speed1_wish_old = speed1_wish;
 		}
 
-		if (speed1_wish == 0) {
+		uint8_t dir_change = (speed1_wish > 0 && speed1 < 0) || (speed1_wish < 0 && speed1 > 0); // Prevent dangerous immediate engine reverse
+		if (speed1_wish == 0 || dir_change) {
 			motor1 = 0;
 			eold1 = 0;
 			error_state &= ~(1<<4);
@@ -959,7 +960,8 @@ static void update_pid(void) {
 			speed2_wish_old = speed2_wish;
 		}
 
-		if (speed2_wish == 0) {
+		uint8_t dir_change = (speed2_wish > 0 && speed2 < 0) || (speed2_wish < 0 && speed2 > 0); // Prevent dangerous immediate engine reverse
+		if (speed2_wish == 0 || dir_change) {
 			motor2 = 0;
 			eold2 = 0;
 			error_state &= ~(1<<5);
@@ -981,7 +983,8 @@ static void update_pid(void) {
 			speed3_wish_old = speed3_wish;
 		}
 
-		if (speed3_wish == 0) {
+		uint8_t dir_change = (speed3_wish > 0 && speed3 < 0) || (speed3_wish < 0 && speed3 > 0); // Prevent dangerous immediate engine reverse
+		if (speed3_wish == 0 || dir_change) {
 			motor3 = 0;
 			eold3 = 0;
 			error_state &= ~(1<<6);
@@ -1003,7 +1006,8 @@ static void update_pid(void) {
 			speed4_wish_old = speed4_wish;
 		}
 
-		if (speed4_wish == 0) {
+		uint8_t dir_change = (speed4_wish > 0 && speed4 < 0) || (speed4_wish < 0 && speed4 > 0); // Prevent dangerous immediate engine reverse
+		if (speed4_wish == 0 || dir_change) {
 			motor4 = 0;
 			eold4 = 0;
 			error_state &= ~(1<<7);