avr/motor_ctrl: Prevent dangerous immediate engine reverse in PID

diff --git a/avr/motor_ctrl/main.c b/avr/motor_ctrl/main.c
index 3642d4a8b222e59530eaafb28cb8a287f3dcd4da..d751375d0f8138fa69896cf8c514341625b9ef27 100644 (file)
--- a/avr/motor_ctrl/main.c
+++ b/avr/motor_ctrl/main.c
@@ -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);

diff --git a/avr/motor_ctrl/main.hex b/avr/motor_ctrl/main.hex
index e21a45e8ae126b62ba33d2bbf807d07600efb977..5f613d574f2e472064b2381fdad6b000fa6c46c1 100644 (file)
--- a/avr/motor_ctrl/main.hex
+++ b/avr/motor_ctrl/main.hex
@@ -27,10 +27,10 @@
 :1001A000A9020C50B9918688083CA6AAAA2ABE00CA\r
 :1001B0000000803F45464765666700202B2D2E30A6\r
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-:1001D000CFE5D8E0DEBFCDBF10E0A0E6B0E0E2E7BB\r
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+:1001D000CFE5D8E0DEBFCDBF10E0A0E6B0E0EAEAB0\r
+:1001E000FCE202C005900D92AA37B107D9F721E0D1\r
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-:1002000036060C94B7150C9400001F920F920FB68F\r
+:1002000036060C9453160C9400001F920F920FB6F2\r
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@@ -74,8 +74,8 @@
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-:1004C0009093A70020E038E24EEA55E40E94021221\r
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@@ -91,7 +91,7 @@
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+:1005D000E13AF10508F04BC1E65DFF4F0C947B1347\r
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@@ -174,7 +174,7 @@
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+:100B00008CE490E00E945C13DA01C9010197A1090D\r
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@@ -183,7 +183,7 @@
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@@ -202,41 +202,41 @@
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