From: Erik Andresen Date: Sat, 13 Aug 2016 19:07:20 +0000 (+0200) Subject: fix angle velocity X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=commitdiff_plain;h=8217c6feeab407f201dd55ea7be27ff51ed62c27 fix angle velocity --- diff --git a/avr/motor_ctrl/main.c b/avr/motor_ctrl/main.c index 66a7c4a..576d57c 100644 --- a/avr/motor_ctrl/main.c +++ b/avr/motor_ctrl/main.c @@ -790,7 +790,6 @@ static void update_pos(void) { int16_t pos4_diff; float diff_left_m, diff_right_m, angle_diff, translation; float pos_x_new, pos_y_new, angle_new; - int16_t speed_l, speed_r; float tmp_speed_lin, tmp_speed_rot; int16_t cur_pos1, cur_pos2, cur_pos3, cur_pos4; int16_t new_speed1, new_speed2, new_speed3, new_speed4; @@ -825,10 +824,8 @@ static void update_pos(void) { pos_x_new = pos_x.f + cos(angle_new)*translation; pos_y_new = pos_y.f + sin(angle_new)*translation; - speed_l = (new_speed1+new_speed2)/2; - speed_r = (new_speed3+new_speed4)/2; - tmp_speed_lin = (speed_l + speed_r)/(2.0*STEP_PER_M_AVG); - tmp_speed_rot = (speed_r - speed_l)/(M_PI*WHEEL_DIST*STEP_PER_M_AVG); + tmp_speed_lin = translation/PID_T; + tmp_speed_rot = angle_diff/PID_T; // copy from tmp cli(); @@ -1008,7 +1005,7 @@ int main(void) { cmd_vel.bUpdate = 0; sei(); - speed_wish_right = angle*M_PI*WHEEL_DIST/2 + speed; + speed_wish_right = (angle*WHEEL_DIST)/2 + speed; speed_wish_left = speed*2-speed_wish_right; speed_wish_left*=STEP_PER_M_LEFT; diff --git a/avr/motor_ctrl/main.hex b/avr/motor_ctrl/main.hex index 89381be..b6df9bd 100644 --- a/avr/motor_ctrl/main.hex +++ b/avr/motor_ctrl/main.hex @@ -27,10 +27,10 @@ :1001A000A9020C50B9918688083CA6AAAA2ABE00CA :1001B0000000803F45464765666700202B2D2E30A6 :1001C00031323334353637383968000011241FBED8 -:1001D000CFE5D8E0DEBFCDBF10E0A0E6B0E0EEE6B0 +:1001D000CFE5D8E0DEBFCDBF10E0A0E6B0E0E8E0BC :1001E000F7E202C005900D92AA37B107D9F721E0D6 :1001F000AAE7B0E001C01D92A836B207E1F70E945D -:1002000020060C94B5130C9400001F920F920FB6A9 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+:0A2718000D0A53746172740D000085 :00000001FF diff --git a/config/razor.yaml b/config/razor.yaml index 48c57b2..d6413ad 100644 --- a/config/razor.yaml +++ b/config/razor.yaml @@ -23,8 +23,8 @@ magn_z_max: 596 # extended calibration calibration_magn_use_extended: true -magn_ellipsoid_center: [252.957, 54.6821, -690.632] -magn_ellipsoid_transform: [[0.953315, 0.00715770, 0.00266159], [0.00715770, 0.931906, 0.0360847], [0.00266159, 0.0360847, 0.979971]] +magn_ellipsoid_center: [344.256, 18.1668, -330.980] +magn_ellipsoid_transform: [[0.838154, 0.00504547, 0.0313606], [0.00504547, 0.989158, 0.0278265], [0.0313606, 0.0278265, 0.916270]] # AHRS to robot calibration imu_yaw_calibration: 0.0 diff --git a/scripts/engine_man_test.py b/scripts/engine_man_test.py index ae639ae..a62a50d 100755 --- a/scripts/engine_man_test.py +++ b/scripts/engine_man_test.py @@ -14,6 +14,7 @@ def set_pwm(left, right): i2c_write_reg(0x50, 0x7, struct.pack(">h", right)) if __name__ == "__main__": + i2c_write_reg(0x50, 0x90, struct.pack("BBBB", 1, 1, 0, 0)) # switch direction set_pwm(int(sys.argv[1]), int(sys.argv[2])) while True: