From: Erik Andresen Date: Wed, 23 Dec 2015 19:36:12 +0000 (+0100) Subject: motor_ctrl: do handicap on both directions X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=commitdiff_plain;h=f0107d7c53dc0e5d8c0c46311ce92f9fb17027e3 motor_ctrl: do handicap on both directions --- diff --git a/avr/motor_ctrl/main.c b/avr/motor_ctrl/main.c index 2ec14a1..479770a 100644 --- a/avr/motor_ctrl/main.c +++ b/avr/motor_ctrl/main.c @@ -60,7 +60,6 @@ * 0x3D Angle (rad/s) * 0x3E Angle (rad/s) * 0x3F Angle (rad/s) LSB - * free * 0x40 Position x (m) MSB * 0x41 Position x (m) * 0x42 Position x (m) @@ -87,8 +86,8 @@ * 0x91 Motor 2 switch * 0x92 Motor 3 switch * 0x93 Motor 4 switch - * 0x94 Front Handicap backward - * 0x95 Aft Handicap forward + * 0x94 Front Handicap + * 0x95 Aft Handicap * free * 0xA0 Reset reason * 0xA1 TLE Error status @@ -161,8 +160,8 @@ static volatile ufloat_t angle={0.0}; static volatile float cur_speed_lin=0; static volatile float cur_speed_rot=0; static volatile uint8_t count_test=0; -static volatile uint8_t front_handicap_bwd=0; -static volatile uint8_t aft_handicap_fwd=0; +static volatile uint8_t front_handicap=0; +static volatile uint8_t aft_handicap=0; ISR(TWI_vect) { @@ -347,13 +346,13 @@ ISR(TWI_vect) motor4_switch = TWDR; TWI_ACK; break; - case 0x94: // Front Handicap backward - front_handicap_bwd = TWDR; + case 0x94: // Front Handicap + front_handicap = TWDR; cmd_vel.bUpdate = 1; TWI_ACK; break; - case 0x95: // Aft Handicap forward - aft_handicap_fwd = TWDR; + case 0x95: // Aft Handicap + aft_handicap = TWDR; cmd_vel.bUpdate = 1; TWI_ACK; break; @@ -968,26 +967,20 @@ int main(void) { speed_wish_left*=STEP_PER_M_LEFT; speed_wish_right*=STEP_PER_M_RIGHT; - if (speed_wish_left > 0 && aft_handicap_fwd > 0) { - speed1_wish = speed_wish_left * (100-aft_handicap_fwd)/100.0; + if (aft_handicap > 0) { + speed1_wish = speed_wish_left * (100-aft_handicap)/100.0; + speed4_wish = speed_wish_right * (100-aft_handicap)/100.0; } else { speed1_wish = speed_wish_left; + speed4_wish = speed_wish_right; } - if (speed_wish_left < 0 && front_handicap_bwd > 0) { - speed2_wish = speed_wish_left * (100-front_handicap_bwd)/100.0; + if (front_handicap > 0) { + speed2_wish = speed_wish_left * (100-front_handicap)/100.0; + speed3_wish = speed_wish_right * (100-front_handicap)/100.0; } else { speed2_wish = speed_wish_left; - } - 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 (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; - } motor1_mode = MOTOR_PID; motor2_mode = MOTOR_PID; motor3_mode = MOTOR_PID; diff --git a/avr/motor_ctrl/main.hex b/avr/motor_ctrl/main.hex index f6c2b4d..5e58bba 100644 --- a/avr/motor_ctrl/main.hex +++ b/avr/motor_ctrl/main.hex @@ -1,631 +1,639 @@ 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