avr/motor_ctrl: odom fixes

diff --git a/avr/motor_ctrl/main.c b/avr/motor_ctrl/main.c
index bd9fc9e31d634c73f3e622b3508db4d850e4ae3d..fbdc1cecd5ed095a1cec4eb3f6f5186c3dfc2283 100644 (file)
--- a/avr/motor_ctrl/main.c
+++ b/avr/motor_ctrl/main.c
@@ -106,7 +106,7 @@
 #define KI 0.051429
 #define KD 0.000378
 #define PID_T 0.01
-#define STEP_PER_M 3376.1 // wheel diameter=12cm, encoder=48cpr, gear ratio=1:34
+#define STEP_PER_M 4171.4 // wheel diameter=12cm, encoder=48cpr, gear ratio=1:34
 #define WHEEL_DIST 0.252
 
 enum mode {
@@ -778,7 +778,7 @@ static void update_pos(void) {
 
        angle_new = angle.f + angle_diff;
        if (angle_new > 2*M_PI) angle_new-=2*M_PI;
-       else if (angle_new < 2*M_PI) angle_new+=2*M_PI;
+       else if (angle_new < -2*M_PI) angle_new+=2*M_PI;
 
        translation = (diff_left_m + diff_right_m)/2.0;
        pos_x_new = pos_x.f + cos(angle_new)*translation;

diff --git a/avr/motor_ctrl/main.hex b/avr/motor_ctrl/main.hex
index ed98346bfee31b1b83d58487d54a78c219475bf4..cecc72df2aa334c78e5b8b943a6647e5596255f3 100644 (file)
--- a/avr/motor_ctrl/main.hex
+++ b/avr/motor_ctrl/main.hex
@@ -7,10 +7,10 @@
 :100060000C50B9918688083CA6AAAA2ABE000000B6\r
 :10007000803F45464765666700202B2D2E30313284\r
 :100080003334353637383968000011241FBECFE5C8\r
-:10009000D8E0DEBFCDBF10E0A0E6B0E0E2E3F7E2DB\r
+:10009000D8E0DEBFCDBF10E0A0E6B0E0EAE3F7E2D3\r
 :1000A00002C005900D92A837B107D9F721E0A8E763\r
 :1000B000B0E001C01D92A736B207E1F70E94220608\r
-:1000C0000C9497130C9400001F920F920FB60F928E\r
+:1000C0000C949B130C9400001F920F920FB60F928A\r
 :1000D00011242F933F934F935F936F937F938F934D\r
 :1000E0009F93AF93BF93EF93FF9381B1887F803845\r
 :1000F00081F040F4803609F0BFC385EC86BF1092D2\r
@@ -53,8 +53,8 @@
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 :10036000782F892F9A2F622B6093A2007093A3009D\r
-:100370008093A4009093A5002AE931E043E555E479\r
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+:100370008093A4009093A50023E33BE542E855E475\r
+:100380000E9450100E94300F7093CE006093CD00F9\r
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 :1003A000D5005AC283B190E0A0E0B0E00EC023B106\r
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@@ -171,7 +171,7 @@
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+:100AD00060E079E08DE390E00E94FD10DA01C90149\r
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 :100AF000BA9580BD215029B986EF90E09093F3001C\r
 :100B00008093F2009093F5008093F40008955D9B2C\r
@@ -181,7 +181,7 @@
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@@ -200,44 +200,44 @@
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