fix motor direction after error state

diff --git a/avr/motor_ctrl/main.c b/avr/motor_ctrl/main.c
index 048fab01bbf645fe7ee949cb20045b8e878b5dab..e8c3d3f4346d9a6f1dbe1d305d9537ebed753127 100644 (file)
--- a/avr/motor_ctrl/main.c
+++ b/avr/motor_ctrl/main.c
@@ -673,17 +673,34 @@ static void update_motor(void) {
 
        error_state = ~((PIND & 0x40)>>3 | (PINB & 0x07)) & 0xf;
 
-       // if error and running: stop
-       if (motor1_mode == MOTOR_PID && bit_is_set(error_state, 0) && m1_old != 0) motor1 = 0;
-       if (motor2_mode == MOTOR_PID && bit_is_set(error_state, 1) && m2_old != 0) motor2 = 0;
-       if (motor3_mode == MOTOR_PID && bit_is_set(error_state, 2) && m3_old != 0) motor3 = 0;
-       if (motor4_mode == MOTOR_PID && bit_is_set(error_state, 3) && m4_old != 0) motor4 = 0;
-
-       // if we start motor in error state: start with full power
-       if (motor1_mode == MOTOR_PID && bit_is_set(error_state, 0) && m1_old == 0 && motor1 != 0) motor1 = 255;
-       if (motor2_mode == MOTOR_PID && bit_is_set(error_state, 1) && m2_old == 0 && motor2 != 0) motor2 = 255;
-       if (motor3_mode == MOTOR_PID && bit_is_set(error_state, 2) && m3_old == 0 && motor3 != 0) motor3 = 255;
-       if (motor4_mode == MOTOR_PID && bit_is_set(error_state, 3) && m4_old == 0 && motor4 != 0) motor4 = 255;
+       if (motor1_mode == MOTOR_PID && bit_is_set(error_state, 0)) {
+               // if error and running: stop
+               if (m1_old != 0) motor1 = 0;
+               // if we start motor in error state: start with full power
+               else if (motor1 > 0) motor1 = 255;
+               else if (motor1 < 0) motor1 = -255;
+       }
+       if (motor2_mode == MOTOR_PID && bit_is_set(error_state, 1)) {
+               // if error and running: stop
+               if (m2_old != 0) motor2 = 0;
+               // if we start motor in error state: start with full power
+               else if (motor2 > 0) motor2 = 255;
+               else if (motor2 < 0) motor2 = -255;
+       }
+       if (motor3_mode == MOTOR_PID && bit_is_set(error_state, 2)) {
+               // if error and running: stop
+               if (m3_old != 0) motor3 = 0;
+               // if we start motor in error state: start with full power
+               else if (motor3 > 0) motor3 = 255;
+               else if (motor3 < 0) motor3 = -255;
+       }
+       if (motor4_mode == MOTOR_PID && bit_is_set(error_state, 3)) {
+               // if error and running: stop
+               if (m4_old != 0) motor4 = 0;
+               // if we start motor in error state: start with full power
+               else if (motor4 > 0) motor4 = 255;
+               else if (motor4 < 0) motor4 = -255;
+       }
 
        if (m1_old != motor1) { // update only when changed
                if (motor1 == 0) {

diff --git a/avr/motor_ctrl/main.hex b/avr/motor_ctrl/main.hex
index 72a9ae8fcbaca93a62f119af803cd386e0a70d3f..0cebf4249d1b8f94659f856b1ee0926a9171de03 100644 (file)
--- a/avr/motor_ctrl/main.hex
+++ b/avr/motor_ctrl/main.hex
@@ -7,10 +7,10 @@
 :100060000C50B9918688083CA6AAAA2ABE000000B6\r
 :10007000803F45464765666700202B2D2E30313284\r
 :100080003334353637383968000011241FBECFE5C8\r
-:10009000D8E0DEBFCDBF10E0A0E6B0E0E4E5F8E2D6\r
+:10009000D8E0DEBFCDBF10E0A0E6B0E0E6E6F8E2D3\r
 :1000A00002C005900D92A837B107D9F721E0A8E763\r
 :1000B000B0E001C01D92A836B207E1F70E94290600\r
-:1000C0000C9428140C9400001F920F920FB60F92FC\r
+:1000C0000C9431140C9400001F920F920FB60F92F3\r
 :1000D00011242F933F934F935F936F937F938F934D\r
 :1000E0009F93AF93BF93EF93FF9381B1887F803845\r
 :1000F00081F040F4803609F0B5C385EC86BF1092DC\r
@@ -54,7 +54,7 @@
 :10035000A2009091A300A091A400B091A500BA2F93\r
 :10036000A92F982F8827BC01CD01622B6093A20092\r
 :100370007093A3008093A4009093A50023E33BE532\r
-:1003800042E855E40E9486100E945A0F7093CF00F5\r
+:1003800042E855E40E948F100E94630F7093CF00E3\r
 :100390006093CE007093CD006093CC0081E0809399\r
 :1003A000D7008093D6004EC283B190E0A0E0B0E0C9\r
 :1003B0000EC023B18091A2009091A300A091A4004F\r
@@ -172,7 +172,7 @@
 :100AB0000F900FBE0F901F9018959C018AB188610E\r
 :100AC0008AB9579A80B5866080BDC901A0E0B0E0C0\r
 :100AD0009C01AD0184E0220F331F441F551F8A95EE\r
-:100AE000D1F760E079E08DE390E00E944411DA01F3\r
+:100AE000D1F760E079E08DE390E00E944D11DA01EA\r
 :100AF000C9010197A109B109892F9A2FAB2FBB27F3\r
 :100B0000A7FDBA9580BD215029B987EF90E0909359\r
 :100B1000F4008093F3009093F6008093F50008951D\r
@@ -182,7 +182,7 @@
 :100B5000EC01CE012196FC012081222319F00E9494\r
 :100B60009005F7CFDF91CF9108955F9BFECF8CB1B9\r
 :100B700090E008950C94B5056AEB75E086E995E080\r
-:100B80000C94C711CF93DF93FC01E253FF4FA08178\r
+:100B80000C94D011CF93DF93FC01E253FF4FA0816F\r
 :100B9000B181EC01C453DF4F28813981A217B3071B\r
 :100BA000A1F05D9B12C02C912CB920813181AC0148\r
 :100BB00045535F4F2417350718F42F5F3F4F03C08D\r
@@ -201,449 +201,450 @@
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