avr/motor_ctrl: handicap fixes

diff --git a/avr/motor_ctrl/main.c b/avr/motor_ctrl/main.c
index 1fd829253bd09f76c7e45800fa41cdedfe0255b2..bd9fc9e31d634c73f3e622b3508db4d850e4ae3d 100644 (file)
--- a/avr/motor_ctrl/main.c
+++ b/avr/motor_ctrl/main.c
@@ -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;

diff --git a/avr/motor_ctrl/main.hex b/avr/motor_ctrl/main.hex
index 621cdcfb0e008a9f037162f5dec78833a8172c33..ed98346bfee31b1b83d58487d54a78c219475bf4 100644 (file)
--- a/avr/motor_ctrl/main.hex
+++ b/avr/motor_ctrl/main.hex
@@ -7,15 +7,15 @@
 :100060000C50B9918688083CA6AAAA2ABE000000B6\r
 :10007000803F45464765666700202B2D2E30313284\r
 :100080003334353637383968000011241FBECFE5C8\r
-:10009000D8E0DEBFCDBF10E0A0E6B0E0E2E2F7E2DC\r
+:10009000D8E0DEBFCDBF10E0A0E6B0E0E2E3F7E2DB\r
 :1000A00002C005900D92A837B107D9F721E0A8E763\r
 :1000B000B0E001C01D92A736B207E1F70E94220608\r
-:1000C0000C948F130C9400001F920F920FB60F9296\r
+:1000C0000C9497130C9400001F920F920FB60F928E\r
 :1000D00011242F933F934F935F936F937F938F934D\r
 :1000E0009F93AF93BF93EF93FF9381B1887F803845\r
 :1000F00081F040F4803609F0BFC385EC86BF1092D2\r
 :10010000E800BFC3883A09F4B7C1883B09F4B4C119\r
-:10011000B3C38091E8008A3209F418C108F047C0DF\r
+:10011000B3C38091E8008A3209F449C108F047C0AE\r
 :10012000803209F402C138F5843009F4C1C060F4AA\r
 :10013000813009F4FAC008F4A6C0823009F4ACC0DA\r
 :10014000833009F4F2C090C3863009F4BDC008F4CE\r
@@ -24,20 +24,20 @@
 :100170001092D30071C3853209F4CAC060F4823290\r
 :1001800009F4D3C008F4ACC0833209F4B6C0843299\r
 :1001900009F4CBC069C3873209F4CBC008F4C5C0E9\r
-:1001A000883209F416C1893209F4D0C05DC38435A0\r
-:1001B00009F414C1E8F58F3209F4DFC060F48C3221\r
-:1001C00009F407C108F4D9C08D3209F4BFC08E32DA\r
-:1001D00009F4BCC049C3813509F4B8C020F48035A6\r
-:1001E00009F4F7C041C3823509F4B0C0833509F082\r
+:1001A000883209F4FFC0893209F401C15DC3843586\r
+:1001B00009F414C1E8F58F3209F4C8C060F48C3238\r
+:1001C00009F4F0C008F4C2C08D3209F4F0C08E32D8\r
+:1001D00009F4EDC049C3813509F4E9C020F4803544\r
+:1001E00009F4E0C041C3823509F4E1C0833509F068\r
 :1001F0003BC323B18091A2009091A300A091A400E1\r
 :10020000B091A500BA2FA92F982F8827822B809311\r
 :10021000A2009093A300A093A400B093A5008093A4\r
 :10022000E9009093EA00A093EB00B093EC0014C3B4\r
-:10023000813909F411C178F4863509F4D4C008F481\r
+:10023000813909F40EC178F4863509F4D4C008F484\r
 :10024000D2C0873509F4E6C0803909F00DC383B107\r
-:100250008093D20001C3843909F406C150F4823975\r
-:1002600009F4FEC0833909F0FFC283B18093CF0047\r
-:10027000F3C2853909F4FCC08F3F09F0F5C283B1A0\r
+:100250008093D20001C3843909F403C150F4823978\r
+:1002600009F4FBC0833909F0FFC283B18093CF004A\r
+:10027000F3C2853909F4F9C08F3F09F0F5C283B1A3\r
 :100280008093E700F1C283B18093E8008091E80099\r
 :1002900081508093E800E0C283B12091A60090E0F5\r
 :1002A000922B9093E6008093E5001092D600D4C282\r
@@ -46,20 +46,20 @@
 :1002D000922B9093E2008093E1001092D400BCC274\r
 :1002E00083B12091A60090E0922B9093CE00809352\r
 :1002F000CD0081E08093D600AFC283B12091A600EB\r
-:1003000090E0922B9093CC008093CB0081E05EC074\r
+:1003000090E0922B9093CC008093CB0081E047C08B\r
 :1003100083B12091A60090E0922B9093CA00809325\r
 :10032000C90081E08093D40097C283B18093A60076\r
 :1003300093C283B12091A60090E0922B9093C800C5\r
 :100340008093C70081E08093D30086C223B180915F\r
-:10035000A2009091A300A091A400B091A500BA2F93\r
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-:10037000A093A400B093A5006FC223B18091A20006\r
-:100380009091A300A091A400B091A5006627782FBA\r
-:10039000892F9A2F622B6093A2007093A300809301\r
-:1003A000A4009093A5002AE931E043E555E40E94BA\r
-:1003B00044100E94240F7093CE006093CD00709380\r
-:1003C000CC006093CB0081E08093D6008093D50071\r
-:1003D00043C283B190E0A0E0B0E0C6CF83B190E02B\r
+:10035000A2009091A300A091A400B091A5006627EF\r
+:10036000782F892F9A2F622B6093A2007093A3009D\r
+:100370008093A4009093A5002AE931E043E555E479\r
+:100380000E944C100E942C0F7093CE006093CD0001\r
+:100390007093CC006093CB0081E08093D600809373\r
+:1003A000D5005AC283B190E0A0E0B0E00EC023B106\r
+:1003B0008091A2009091A300A091A400B091A5000B\r
+:1003C000BA2FA92F982F8827822B8093A200909371\r
+:1003D000A300A093A400B093A5003EC283B190E017\r
 :1003E000A0E0B0E00EC023B180919E0090919F00EC\r
 :1003F000A091A000B091A100BA2FA92F982F882713\r
 :10040000822B80939E0090939F00A093A000B093B6\r
@@ -67,9 +67,9 @@
 :10042000A000B091A100BA2FA92F982F8827822B66\r
 :1004300080939E0090939F00A093A000B093A10092\r
 :100440008093ED009093EE00A093EF00B093F00046\r
-:1004500081E08093F10000C283B18093D100FCC1A0\r
-:1004600083B18093D000F8C183B18093A800F4C118\r
-:1004700083B18093A700F0C18091E800853309F42F\r
+:100450000FC083B18093D100FFC183B18093D000DE\r
+:10046000FBC183B18093A80003C083B18093A70030\r
+:1004700081E08093F100F0C18091E800853309F4B8\r
 :1004800047C108F06BC0803209F415C180F5813195\r
 :1004900009F40EC1C0F4863009F4F2C048F4823089\r
 :1004A00009F4EBC0843009F0DEC188B599B5E9C024\r
@@ -171,7 +171,7 @@
 :100AA0009F918F910F900FBE0F901F9018959C01F2\r
 :100AB0008AB188618AB9579A80B5866080BD40E066\r
 :100AC00050E084E0220F331F441F551F8A95D1F751\r
-:100AD00060E079E08DE390E00E94F110DA01C90155\r
+:100AD00060E079E08DE390E00E94F910DA01C9014D\r
 :100AE0000197A109B109892F9A2FAB2FBB27A7FD29\r
 :100AF000BA9580BD215029B986EF90E09093F3001C\r
 :100B00008093F2009093F5008093F40008955D9B2C\r
@@ -181,7 +181,7 @@
 :100B4000CE012196FC012081222319F00E94870505\r
 :100B5000F7CFDF91CF9108955F9BFECF8CB190E0EE\r
 :100B600008950C94AC0561EB75E08DE895E00C946C\r
-:100B70003D11CF93DF93FC01E253FF4FA081B18180\r
+:100B70004511CF93DF93FC01E253FF4FA081B18178\r
 :100B8000EC01C453DF4F28813981A217B307A1F0CC\r
 :100B90005D9B12C02C912CB920813181AC01455351\r
 :100BA0005F4F2417350718F42F5F3F4F03C09C0198\r
@@ -200,431 +200,432 @@
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 :100C800086B78B7E86BF85EC86BF81EF8FBD89E0FE\r
 :100C90008EBD1BBC1ABC19BC18BC89E785BD13BC32\r
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+:100CA00083BF1CBE8EE690E00E94C21185B78F788C\r
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