avr/motor_ctrl: odom fixes
authorErik Andresen <erik@vontaene.de>
Sun, 14 Jun 2015 10:01:40 +0000 (12:01 +0200)
committerErik Andresen <erik@vontaene.de>
Sun, 14 Jun 2015 10:01:40 +0000 (12:01 +0200)
avr/motor_ctrl/main.c
avr/motor_ctrl/main.hex

index bd9fc9e..fbdc1ce 100644 (file)
 #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;
index ed98346..cecc72d 100644 (file)
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