X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=avr%2Fmotor_ctrl%2Fmain.c;h=fbdc1cecd5ed095a1cec4eb3f6f5186c3dfc2283;hp=1fd829253bd09f76c7e45800fa41cdedfe0255b2;hb=c79c0e44c7fdd7603a1910bc92fd80b6eb60ee78;hpb=2dbdb0777dda392369a9782812556f712ac1c1e2

diff --git a/avr/motor_ctrl/main.c b/avr/motor_ctrl/main.c
index 1fd8292..fbdc1ce 100644
--- a/avr/motor_ctrl/main.c
+++ b/avr/motor_ctrl/main.c
@@ -106,7 +106,7 @@
 #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 STEP_PER_M 4171.4 // wheel diameter=12cm, encoder=48cpr, gear ratio=1:34
 #define WHEEL_DIST 0.252
 
 enum mode {
@@ -346,10 +346,12 @@ ISR(TWI_vect)
 					break;
 				case 0x94: // Front Handicap backward
 					front_handicap_bwd = TWDR;
+					cmd_vel.bUpdate = 1;
 					TWI_ACK;
 					break;
 				case 0x95: // Aft Handicap forward
 					aft_handicap_fwd = TWDR;
+					cmd_vel.bUpdate = 1;
 					TWI_ACK;
 					break;
 				case 0xff: // bootloader
@@ -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;
@@ -963,22 +965,22 @@ int main(void) {
 			speed_wish_left*=STEP_PER_M;
 			speed_wish_right*=STEP_PER_M;
 
-			if (speed1_wish > 0 && aft_handicap_fwd > 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 (speed2_wish > 0 && front_handicap_bwd > 0) {
+			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 (speed3_wish > 0 && front_handicap_bwd > 0) {
+			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 (speed4_wish > 0 && aft_handicap_fwd > 0) {
+			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;