use esum to stop motor when stalling to avoid damage

diff --git a/avr/motor_ctrl/main.c b/avr/motor_ctrl/main.c
index 576d57c1c7d75d22b286f462f6c3618c57f61b3c..3dca8cc80bb9fa380d3e9f0d3689a31d28929b09 100644 (file)
--- a/avr/motor_ctrl/main.c
+++ b/avr/motor_ctrl/main.c
@@ -687,7 +687,8 @@ 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;
+       error_state &= 0xf0; // clear lower bits
+       error_state |= ~((PIND & 0x40)>>3 | (PINB & 0x07)) & 0xf;
 
        if (m1_old != motor1) { // update only when changed
                if (motor1 == 0) {
@@ -857,11 +858,39 @@ static void update_pid(void) {
        static int32_t esum3=0;
        static int32_t esum4=0;
 
+       // protect motors from damage if stalling
+       if (labs(esum1) > 120000 && speed1 == 0) {
+               motor1 = 0;
+               motor1_mode = MOTOR_MANUAL;
+               error_state |= (1<<4);
+               esum1 = 0;
+       }       
+       if (labs(esum2) > 120000 && speed2 == 0) {
+               motor2 = 0;
+               motor2_mode = MOTOR_MANUAL;
+               error_state |= (1<<5);
+               esum2 = 0;
+       }       
+       if (labs(esum3) > 120000 && speed3 == 0) {
+               motor3 = 0;
+               motor3_mode = MOTOR_MANUAL;
+               error_state |= (1<<6);
+               esum3 = 0;
+       }       
+       // protect motors from damage if stalling
+       if (labs(esum4) > 120000 && speed4 == 0) {
+               motor4 = 0;
+               motor4_mode = MOTOR_MANUAL;
+               error_state |= (1<<7);
+               esum4 = 0;
+       }       
+
        if (motor1_mode == MOTOR_PID) {
                if (speed1_wish == 0) {
                        motor1 = 0;
                        eold1 = 0;
                        esum1 = 0;
+                       error_state &= ~(1<<4);
                } else {
                        int16_t e = speed1_wish - speed1;
                        esum1+=e;
@@ -879,6 +908,7 @@ static void update_pid(void) {
                        motor2 = 0;
                        eold2 = 0;
                        esum2 = 0;
+                       error_state &= ~(1<<5);
                } else {
                        int16_t e = speed2_wish - speed2;
                        esum2+=e;
@@ -896,6 +926,7 @@ static void update_pid(void) {
                        motor3 = 0;
                        eold3 = 0;
                        esum3 = 0;
+                       error_state &= ~(1<<6);
                } else {
                        int16_t e = speed3_wish - speed3;
                        esum3+=e;
@@ -913,6 +944,7 @@ static void update_pid(void) {
                        motor4 = 0;
                        eold4 = 0;
                        esum4 = 0;
+                       error_state &= ~(1<<7);
                } else {
                        int16_t e = speed4_wish - speed4;
                        esum4+=e;
@@ -1013,17 +1045,17 @@ int main(void) {
 
                        if (aft_handicap > 0) {
                                speed1_wish = speed_wish_left * (100-aft_handicap)/100.0;
-                               speed4_wish = speed_wish_right * (100-aft_handicap)/100.0;
+                               speed3_wish = speed_wish_right * (100-aft_handicap)/100.0;
                        } else {
                                speed1_wish = speed_wish_left;
-                               speed4_wish = speed_wish_right;
+                               speed3_wish = speed_wish_right;
                        }
                        if (front_handicap > 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-front_handicap)/100.0;
                        } else {
                                speed2_wish = speed_wish_left;
-                               speed3_wish = speed_wish_right;
+                               speed4_wish = speed_wish_right;
                        }
                        motor1_mode = MOTOR_PID;
                        motor2_mode = MOTOR_PID;

diff --git a/avr/motor_ctrl/main.hex b/avr/motor_ctrl/main.hex
index b6df9bd9cb33bdd51448d77cfaa8773a8bb1a0ba..edffdd99b38c0f90c6918d2e4af408d067947aa2 100644 (file)
--- a/avr/motor_ctrl/main.hex
+++ b/avr/motor_ctrl/main.hex
@@ -27,10 +27,10 @@
 :1001A000A9020C50B9918688083CA6AAAA2ABE00CA\r
 :1001B0000000803F45464765666700202B2D2E30A6\r
 :1001C00031323334353637383968000011241FBED8\r
-:1001D000CFE5D8E0DEBFCDBF10E0A0E6B0E0E8E0BC\r
-:1001E000F7E202C005900D92AA37B107D9F721E0D6\r
+:1001D000CFE5D8E0DEBFCDBF10E0A0E6B0E0E8EBB1\r
+:1001E000F8E202C005900D92AA37B107D9F721E0D5\r
 :1001F000AAE7B0E001C01D92A836B207E1F70E945D\r
-:1002000020060C9482130C9400001F920F920FB6DC\r
+:1002000020060C945A140C9400001F920F920FB603\r
 :100210000F9211242F933F934F935F936F937F938C\r
 :100220008F939F93AF93BF93EF93FF9381B1887F99\r
 :10023000803881F040F4803609F01CC385EC86BF1D\r
@@ -74,7 +74,7 @@
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 :1004A0006627782F892F9A2F622B6093A400709370\r
 :1004B000A5008093A6009093A70023E33BE542E8C4\r
-:1004C00055E40E9431100E94110F7093D100609387\r
+:1004C00055E40E9409110E94E90F7093D1006093D6\r
 :1004D000D0007093CF006093CE0081E08093D7006E\r
 :1004E0008093D600B7C183B190E0A0E0B0E00EC029\r
 :1004F00023B18091A4009091A500A091A600B09195\r
@@ -91,7 +91,7 @@
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 :1005C000FC013297E13AF10508F04BC1E65DFF4FBF\r
-:1005D0000C94FD108AB59BB53CC188B599B539C15D\r
+:1005D0000C94D5118AB59BB53CC188B599B539C184\r
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 :100600008091DA009091DB0004C08091D800909135\r
@@ -171,7 +171,7 @@
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-:100AD0008DE390E00E94DE10DA01C9010197A109BF\r
+:100AD0008DE390E00E94B611DA01C9010197A109E6\r
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@@ -180,7 +180,7 @@
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 :100B4000FC012081222319F00E948505F7CFDF9157\r
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+:100B6000AA056FEA75E08BE895E00C940812CF9324\r
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@@ -200,40 +200,40 @@
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 :100EA000D600F093D500F093D4008091C9008C391E\r
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diff --git a/scripts/wt_node.py b/scripts/wt_node.py
index a5978b032850342b1a0e3ad04e03f72a408ba584..3d1c972ea43a6eaf3c0bef5e4e2ad390f847b8e4 100755 (executable)
--- a/scripts/wt_node.py
+++ b/scripts/wt_node.py
@@ -68,7 +68,7 @@ class MoveBase:
                self.handicap_last = (-1, -1)
                self.pStripe = LPD8806(1, 0, 12)
                rospy.Subscriber("cmd_vel_out", Twist, self.cmdVelReceived)
-               rospy.Subscriber("imu", Imu, self.imuReceived)
+               #rospy.Subscriber("imu", Imu, self.imuReceived)
                rospy.Subscriber("led_stripe", LedStripe, self.led_stripe_received)
                self.run()
        
@@ -80,7 +80,7 @@ class MoveBase:
                i = 0
                while not rospy.is_shutdown():
                        #print struct.unpack(">B", i2c_read_reg(0x50, 0xA2, 1))[0] # count test
-                       self.get_tle_err()
+                       self.get_motor_err()
                        self.get_odom()
                        self.get_voltage()
                        if i % 2:
@@ -141,7 +141,7 @@ class MoveBase:
                return reset
 
 
-       def get_tle_err(self):
+       def get_motor_err(self):
                err = struct.unpack(">B", i2c_read_reg(0x50, 0xA1, 1))[0]
                
                msg = DiagnosticArray()
@@ -151,10 +151,16 @@ class MoveBase:
                stat.level = DiagnosticStatus.ERROR if err else DiagnosticStatus.OK
                stat.message = "0x%02x" % err
 
-               stat.values.append(KeyValue("aft left", str(bool(err & (1 << 0)))))
-               stat.values.append(KeyValue("front left", str(bool(err & (1 << 1)))))
-               stat.values.append(KeyValue("front right", str(bool(err & (1 << 2)))))
-               stat.values.append(KeyValue("aft right", str(bool(err & (1 << 3)))))
+               # Diag
+               stat.values.append(KeyValue("aft left diag", str(bool(err & (1 << 0)))))
+               stat.values.append(KeyValue("front left diag", str(bool(err & (1 << 1)))))
+               stat.values.append(KeyValue("aft right diag", str(bool(err & (1 << 2)))))
+               stat.values.append(KeyValue("front right diag", str(bool(err & (1 << 3)))))
+               # Stall
+               stat.values.append(KeyValue("aft left stall", str(bool(err & (1 << 4)))))
+               stat.values.append(KeyValue("front left stall", str(bool(err & (1 << 5)))))
+               stat.values.append(KeyValue("aft right stall", str(bool(err & (1 << 6)))))
+               stat.values.append(KeyValue("front right stall", str(bool(err & (1 << 7)))))
 
                msg.status.append(stat)
                self.pub_diag.publish(msg)