Merge branch 'master' of ssh://vontaene/home/erik_alt/git/ros_wild_thumper

diff --git a/avr/motor_ctrl/main.c b/avr/motor_ctrl/main.c
index 2713674b951e8a8f2cd6b0c0fe28812a3bbc43a7..f8a5c34b95fbb81eebca2a3e7ea923610e661c19 100644 (file)
--- a/avr/motor_ctrl/main.c
+++ b/avr/motor_ctrl/main.c
@@ -87,6 +87,8 @@
  * 0x91 Motor 2 switch
  * 0x92 Motor 3 switch
  * 0x93 Motor 4 switch
+ * 0x94 Front Handicap
+ * 0x95 Aft Handicap
  * free
  * 0xA0 Reset reason
  * 0xA1 TLE Error status
@@ -156,6 +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;
 
 ISR(TWI_vect)
 {
@@ -340,6 +344,14 @@ ISR(TWI_vect)
                                        motor4_switch = TWDR;
                                        TWI_ACK;
                                        break;
+                               case 0x94: // Front Handicap
+                                       front_handicap = TWDR;
+                                       TWI_ACK;
+                                       break;
+                               case 0x95: // Aft Handicap
+                                       aft_handicap = TWDR;
+                                       TWI_ACK;
+                                       break;
                                case 0xff: // bootloader
                                        bootloader = TWDR;
                                default:
@@ -948,10 +960,10 @@ int main(void) {
                        speed_wish_left*=STEP_PER_M;
                        speed_wish_right*=STEP_PER_M;
 
-                       speed1_wish = speed_wish_left;
-                       speed2_wish = speed_wish_left;
-                       speed3_wish = speed_wish_right;
-                       speed4_wish = speed_wish_right;
+                       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;
                        motor1_mode = MOTOR_PID;
                        motor2_mode = MOTOR_PID;
                        motor3_mode = MOTOR_PID;

diff --git a/avr/motor_ctrl/main.hex b/avr/motor_ctrl/main.hex
index d628a2624fd615065dc90827f4685d873070bc0f..89e9c4d36b1c6c6703beff4e90e1479a4c8f8a37 100644 (file)
--- a/avr/motor_ctrl/main.hex
+++ b/avr/motor_ctrl/main.hex
@@ -1,603 +1,619 @@
 :100000000C9445000C9462000C9462000C94620005\r
 :100010000C9462000C9462000C9462000C946200D8\r
-:100020000C9462000C9429040C9462000C946200FD\r
-:100030000C9462000C9404050C9462000C94620011\r
+:100020000C9462000C9439040C9462000C946200ED\r
+:100030000C9462000C9414050C9462000C94620001\r
 :100040000C9462000C9462000C9462000C946400A6\r
 :100050000C94620005A84CCDB2D44EB93836A90232\r
 :100060000C50B9918688083CA6AAAA2ABE000000B6\r
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