From 2dbdb0777dda392369a9782812556f712ac1c1e2 Mon Sep 17 00:00:00 2001 From: Erik Andresen Date: Sat, 13 Jun 2015 09:52:01 +0200 Subject: [PATCH] avr/motor_ctrl: handicap: sep forward, backward --- avr/motor_ctrl/main.c | 40 +- avr/motor_ctrl/main.hex | 849 ++++++++++++++++++++-------------------- 2 files changed, 456 insertions(+), 433 deletions(-) diff --git a/avr/motor_ctrl/main.c b/avr/motor_ctrl/main.c index 83022cb..1fd8292 100644 --- a/avr/motor_ctrl/main.c +++ b/avr/motor_ctrl/main.c @@ -87,8 +87,8 @@ * 0x91 Motor 2 switch * 0x92 Motor 3 switch * 0x93 Motor 4 switch - * 0x94 Front Handicap - * 0x95 Aft Handicap + * 0x94 Front Handicap backward + * 0x95 Aft Handicap forward * free * 0xA0 Reset reason * 0xA1 TLE Error status @@ -158,8 +158,8 @@ 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=0; -static volatile uint8_t aft_handicap=0; +static volatile uint8_t front_handicap_bwd=0; +static volatile uint8_t aft_handicap_fwd=0; ISR(TWI_vect) { @@ -344,12 +344,12 @@ ISR(TWI_vect) motor4_switch = TWDR; TWI_ACK; break; - case 0x94: // Front Handicap - front_handicap = TWDR; + case 0x94: // Front Handicap backward + front_handicap_bwd = TWDR; TWI_ACK; break; - case 0x95: // Aft Handicap - aft_handicap = TWDR; + case 0x95: // Aft Handicap forward + aft_handicap_fwd = TWDR; TWI_ACK; break; case 0xff: // bootloader @@ -963,10 +963,26 @@ int main(void) { speed_wish_left*=STEP_PER_M; speed_wish_right*=STEP_PER_M; - speed1_wish = speed_wish_left * (100-aft_handicap)/100.0; - speed2_wish = speed_wish_left * (100-front_handicap)/100.0; - speed3_wish = speed_wish_right * (100-front_handicap)/100.0; - speed4_wish = speed_wish_right * (100-aft_handicap)/100.0; + if (speed1_wish > 0 && aft_handicap_fwd > 0) { + speed1_wish = speed_wish_left * (100-aft_handicap_fwd)/100.0; + } else { + speed1_wish = speed_wish_left; + } + if (speed2_wish > 0 && front_handicap_bwd > 0) { + speed2_wish = speed_wish_left * (100-front_handicap_bwd)/100.0; + } else { + speed2_wish = speed_wish_left; + } + if (speed3_wish > 0 && front_handicap_bwd > 0) { + speed3_wish = speed_wish_right * (100-front_handicap_bwd)/100.0; + } else { + speed3_wish = speed_wish_right; + } + if (speed4_wish > 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 2a08e6a..621cdcf 100644 --- a/avr/motor_ctrl/main.hex +++ b/avr/motor_ctrl/main.hex @@ -7,10 +7,10 @@ :100060000C50B9918688083CA6AAAA2ABE000000B6 :10007000803F45464765666700202B2D2E30313284 :100080003334353637383968000011241FBECFE5C8 -:10009000D8E0DEBFCDBF10E0A0E6B0E0E2EBF6E2D4 +:10009000D8E0DEBFCDBF10E0A0E6B0E0E2E2F7E2DC 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