fix angle velocity

diff --git a/avr/motor_ctrl/main.c b/avr/motor_ctrl/main.c
index 66a7c4afd63af534cb47608eb82c805bcf7dd2fd..576d57c1c7d75d22b286f462f6c3618c57f61b3c 100644 (file)
--- a/avr/motor_ctrl/main.c
+++ b/avr/motor_ctrl/main.c
@@ -790,7 +790,6 @@ static void update_pos(void) {
        int16_t pos4_diff;
        float diff_left_m, diff_right_m, angle_diff, translation;
        float pos_x_new, pos_y_new, angle_new;
        int16_t pos4_diff;
        float diff_left_m, diff_right_m, angle_diff, translation;
        float pos_x_new, pos_y_new, angle_new;

-       int16_t speed_l, speed_r;

        float tmp_speed_lin, tmp_speed_rot;
        int16_t cur_pos1, cur_pos2, cur_pos3, cur_pos4;
        int16_t new_speed1, new_speed2, new_speed3, new_speed4;
        float tmp_speed_lin, tmp_speed_rot;
        int16_t cur_pos1, cur_pos2, cur_pos3, cur_pos4;
        int16_t new_speed1, new_speed2, new_speed3, new_speed4;


@@ -825,10 +824,8 @@ static void update_pos(void) {
        pos_x_new = pos_x.f + cos(angle_new)*translation;
        pos_y_new = pos_y.f + sin(angle_new)*translation;
 
        pos_x_new = pos_x.f + cos(angle_new)*translation;
        pos_y_new = pos_y.f + sin(angle_new)*translation;
 

-       speed_l = (new_speed1+new_speed2)/2;
-       speed_r = (new_speed3+new_speed4)/2;
-       tmp_speed_lin = (speed_l + speed_r)/(2.0*STEP_PER_M_AVG);
-       tmp_speed_rot = (speed_r - speed_l)/(M_PI*WHEEL_DIST*STEP_PER_M_AVG);
+       tmp_speed_lin = translation/PID_T;
+       tmp_speed_rot = angle_diff/PID_T;

 
        // copy from tmp
        cli();
 
        // copy from tmp
        cli();


@@ -1008,7 +1005,7 @@ int main(void) {
                        cmd_vel.bUpdate = 0;
                        sei();
 
                        cmd_vel.bUpdate = 0;
                        sei();
 

-                       speed_wish_right = angle*M_PI*WHEEL_DIST/2 + speed;
+                       speed_wish_right = (angle*WHEEL_DIST)/2 + speed;

                        speed_wish_left = speed*2-speed_wish_right;
 
                        speed_wish_left*=STEP_PER_M_LEFT;
                        speed_wish_left = speed*2-speed_wish_right;
 
                        speed_wish_left*=STEP_PER_M_LEFT;

diff --git a/avr/motor_ctrl/main.hex b/avr/motor_ctrl/main.hex
index 89381bebbcf21061b715246e9169c2d6a16fa750..b6df9bd9cb33bdd51448d77cfaa8773a8bb1a0ba 100644 (file)
--- a/avr/motor_ctrl/main.hex
+++ b/avr/motor_ctrl/main.hex
@@ -27,10 +27,10 @@
 :1001A000A9020C50B9918688083CA6AAAA2ABE00CA\r
 :1001B0000000803F45464765666700202B2D2E30A6\r
 :1001C00031323334353637383968000011241FBED8\r
 :1001A000A9020C50B9918688083CA6AAAA2ABE00CA\r
 :1001B0000000803F45464765666700202B2D2E30A6\r
 :1001C00031323334353637383968000011241FBED8\r

-:1001D000CFE5D8E0DEBFCDBF10E0A0E6B0E0EEE6B0\r
+:1001D000CFE5D8E0DEBFCDBF10E0A0E6B0E0E8E0BC\r

 :1001E000F7E202C005900D92AA37B107D9F721E0D6\r
 :1001F000AAE7B0E001C01D92A836B207E1F70E945D\r
 :1001E000F7E202C005900D92AA37B107D9F721E0D6\r
 :1001F000AAE7B0E001C01D92A836B207E1F70E945D\r

-:1002000020060C94B5130C9400001F920F920FB6A9\r
+:1002000020060C9482130C9400001F920F920FB6DC\r

 :100210000F9211242F933F934F935F936F937F938C\r
 :100220008F939F93AF93BF93EF93FF9381B1887F99\r
 :10023000803881F040F4803609F01CC385EC86BF1D\r
 :100210000F9211242F933F934F935F936F937F938C\r
 :100220008F939F93AF93BF93EF93FF9381B1887F99\r
 :10023000803881F040F4803609F01CC385EC86BF1D\r


@@ -74,7 +74,7 @@
 :100490008091A4009091A500A091A600B091A70022\r
 :1004A0006627782F892F9A2F622B6093A400709370\r
 :1004B000A5008093A6009093A70023E33BE542E8C4\r
 :100490008091A4009091A500A091A600B091A70022\r
 :1004A0006627782F892F9A2F622B6093A400709370\r
 :1004B000A5008093A6009093A70023E33BE542E8C4\r

-:1004C00055E40E9464100E94440F7093D100609321\r
+:1004C00055E40E9431100E94110F7093D100609387\r

 :1004D000D0007093CF006093CE0081E08093D7006E\r
 :1004E0008093D600B7C183B190E0A0E0B0E00EC029\r
 :1004F00023B18091A4009091A500A091A600B09195\r
 :1004D000D0007093CF006093CE0081E08093D7006E\r
 :1004E0008093D600B7C183B190E0A0E0B0E00EC029\r
 :1004F00023B18091A4009091A500A091A600B09195\r


@@ -91,7 +91,7 @@
 :1005A000D30058C183B18093AB0003C083B1809363\r
 :1005B000AA0081E08093F2004DC18091E90090E0B3\r
 :1005C000FC013297E13AF10508F04BC1E65DFF4FBF\r
 :1005A000D30058C183B18093AB0003C083B1809363\r
 :1005B000AA0081E08093F2004DC18091E90090E0B3\r
 :1005C000FC013297E13AF10508F04BC1E65DFF4FBF\r

-:1005D0000C9430118AB59BB53CC188B599B539C129\r
+:1005D0000C94FD108AB59BB53CC188B599B539C15D\r

 :1005E00083B537C18CB735C113B834C18091DE00F3\r
 :1005F0009091DF000EC08091DC009091DD0009C079\r
 :100600008091DA009091DB0004C08091D800909135\r
 :1005E00083B537C18CB735C113B834C18091DE00F3\r
 :1005F0009091DF000EC08091DC009091DD0009C079\r
 :100600008091DA009091DB0004C08091D800909135\r


@@ -171,7 +171,7 @@
 :100AA0000F900FBE0F901F9018959C018AB188611E\r
 :100AB0008AB9579A80B5866080BD40E050E084E0F6\r
 :100AC000220F331F441F551F8A95D1F760E079E04C\r
 :100AA0000F900FBE0F901F9018959C018AB188611E\r
 :100AB0008AB9579A80B5866080BD40E050E084E0F6\r
 :100AC000220F331F441F551F8A95D1F760E079E04C\r

-:100AD0008DE390E00E941111DA01C9010197A1098B\r
+:100AD0008DE390E00E94DE10DA01C9010197A109BF\r

 :100AE000B109892F9A2FAB2FBB27A7FDBA9580BDDF\r
 :100AF000215029B987EF90E09093F4008093F300A0\r
 :100B00009093F6008093F50008955D9BFECFFC0165\r
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 :100AF000215029B987EF90E09093F4008093F300A0\r
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@@ -180,7 +180,7 @@
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 :100B5000CF9108955F9BFECF8CB190E008950C94E7\r
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 :100B4000FC012081222319F00E948505F7CFDF9157\r
 :100B5000CF9108955F9BFECF8CB190E008950C94E7\r

-:100B6000AA056FEA75E08BE895E00C946311CF93CA\r
+:100B6000AA056FEA75E08BE895E00C943011CF93FD\r

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 :100B90002C912CB920813181AC0145535F4F241732\r


@@ -194,441 +194,435 @@
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 :00000001FF\r
 :00000001FF\r

diff --git a/config/razor.yaml b/config/razor.yaml
index 48c57b227af349aaafe36598fb5553a27e01ac15..d6413adf3450a980ba08e8f21fe0b8b9d95754ae 100644 (file)
--- a/config/razor.yaml
+++ b/config/razor.yaml
@@ -23,8 +23,8 @@ magn_z_max: 596
 
 # extended calibration
 calibration_magn_use_extended: true
 
 # extended calibration
 calibration_magn_use_extended: true

-magn_ellipsoid_center: [252.957, 54.6821, -690.632]
-magn_ellipsoid_transform: [[0.953315, 0.00715770, 0.00266159], [0.00715770, 0.931906, 0.0360847], [0.00266159, 0.0360847, 0.979971]]
+magn_ellipsoid_center: [344.256, 18.1668, -330.980]
+magn_ellipsoid_transform: [[0.838154, 0.00504547, 0.0313606], [0.00504547, 0.989158, 0.0278265], [0.0313606, 0.0278265, 0.916270]]

 
 # AHRS to robot calibration
 imu_yaw_calibration: 0.0
 
 # AHRS to robot calibration
 imu_yaw_calibration: 0.0

diff --git a/scripts/engine_man_test.py b/scripts/engine_man_test.py
index ae639ae74af2a555e34471d1962eea11dd9562c3..a62a50d4375d4fa70450fb58bd21f7681306efb8 100755 (executable)
--- a/scripts/engine_man_test.py
+++ b/scripts/engine_man_test.py
@@ -14,6 +14,7 @@ def set_pwm(left, right):
        i2c_write_reg(0x50, 0x7, struct.pack(">h", right))
 
 if __name__ == "__main__":
        i2c_write_reg(0x50, 0x7, struct.pack(">h", right))
 
 if __name__ == "__main__":

+       i2c_write_reg(0x50, 0x90, struct.pack("BBBB", 1, 1, 0, 0)) # switch direction

        set_pwm(int(sys.argv[1]), int(sys.argv[2]))
 
        while True:
        set_pwm(int(sys.argv[1]), int(sys.argv[2]))
 
        while True: