avr/motor_ctrl: handicap fixes
authorErik Andresen <erik@vontaene.de>
Sat, 13 Jun 2015 09:07:16 +0000 (11:07 +0200)
committerErik Andresen <erik@vontaene.de>
Sat, 13 Jun 2015 09:07:16 +0000 (11:07 +0200)
avr/motor_ctrl/main.c
avr/motor_ctrl/main.hex

index 1fd8292..bd9fc9e 100644 (file)
@@ -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
@@ -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;
index 621cdcf..ed98346 100644 (file)
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