From 8786ef14dfb5b65efa0a260d91e569aa819aac14 Mon Sep 17 00:00:00 2001 From: Erik Andresen Date: Sun, 14 Aug 2016 19:44:41 +0200 Subject: [PATCH] use esum to stop motor when stalling to avoid damage --- avr/motor_ctrl/main.c | 42 ++- avr/motor_ctrl/main.hex | 817 +++++++++++++++++++++------------------- scripts/wt_node.py | 20 +- 3 files changed, 472 insertions(+), 407 deletions(-) diff --git a/avr/motor_ctrl/main.c b/avr/motor_ctrl/main.c index 576d57c..3dca8cc 100644 --- a/avr/motor_ctrl/main.c +++ b/avr/motor_ctrl/main.c @@ -687,7 +687,8 @@ static void update_motor(void) { static int16_t m3_old=SHRT_MIN; static int16_t m4_old=SHRT_MIN; - error_state = ~((PIND & 0x40)>>3 | (PINB & 0x07)) & 0xf; + error_state &= 0xf0; // clear lower bits + error_state |= ~((PIND & 0x40)>>3 | (PINB & 0x07)) & 0xf; if (m1_old != motor1) { // update only when changed if (motor1 == 0) { @@ -857,11 +858,39 @@ static void update_pid(void) { static int32_t esum3=0; static int32_t esum4=0; + // protect motors from damage if stalling + if (labs(esum1) > 120000 && speed1 == 0) { + motor1 = 0; + motor1_mode = MOTOR_MANUAL; + error_state |= (1<<4); + esum1 = 0; + } + if (labs(esum2) > 120000 && speed2 == 0) { + motor2 = 0; + motor2_mode = MOTOR_MANUAL; + error_state |= (1<<5); + esum2 = 0; + } + if (labs(esum3) > 120000 && speed3 == 0) { + motor3 = 0; + motor3_mode = MOTOR_MANUAL; + error_state |= (1<<6); + esum3 = 0; + } + // protect motors from damage if stalling + if (labs(esum4) > 120000 && speed4 == 0) { + motor4 = 0; + motor4_mode = MOTOR_MANUAL; + error_state |= (1<<7); + esum4 = 0; + } + if (motor1_mode == MOTOR_PID) { if (speed1_wish == 0) { motor1 = 0; eold1 = 0; esum1 = 0; + error_state &= ~(1<<4); } else { int16_t e = speed1_wish - speed1; esum1+=e; @@ -879,6 +908,7 @@ static void update_pid(void) { motor2 = 0; eold2 = 0; esum2 = 0; + error_state &= ~(1<<5); } else { int16_t e = speed2_wish - speed2; esum2+=e; @@ -896,6 +926,7 @@ static void update_pid(void) { motor3 = 0; eold3 = 0; esum3 = 0; + error_state &= ~(1<<6); } else { int16_t e = speed3_wish - speed3; esum3+=e; @@ -913,6 +944,7 @@ static void update_pid(void) { motor4 = 0; eold4 = 0; esum4 = 0; + error_state &= ~(1<<7); } else { int16_t e = speed4_wish - speed4; esum4+=e; @@ -1013,17 +1045,17 @@ int main(void) { if (aft_handicap > 0) { speed1_wish = speed_wish_left * (100-aft_handicap)/100.0; - speed4_wish = speed_wish_right * (100-aft_handicap)/100.0; + speed3_wish = speed_wish_right * (100-aft_handicap)/100.0; } else { speed1_wish = speed_wish_left; - speed4_wish = speed_wish_right; + speed3_wish = speed_wish_right; } if (front_handicap > 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-front_handicap)/100.0; } else { speed2_wish = speed_wish_left; - speed3_wish = speed_wish_right; + speed4_wish = speed_wish_right; } motor1_mode = MOTOR_PID; motor2_mode = MOTOR_PID; diff --git a/avr/motor_ctrl/main.hex b/avr/motor_ctrl/main.hex index b6df9bd..edffdd9 100644 --- a/avr/motor_ctrl/main.hex +++ b/avr/motor_ctrl/main.hex @@ -27,10 +27,10 @@ :1001A000A9020C50B9918688083CA6AAAA2ABE00CA :1001B0000000803F45464765666700202B2D2E30A6 :1001C00031323334353637383968000011241FBED8 -:1001D000CFE5D8E0DEBFCDBF10E0A0E6B0E0E8E0BC -:1001E000F7E202C005900D92AA37B107D9F721E0D6 +:1001D000CFE5D8E0DEBFCDBF10E0A0E6B0E0E8EBB1 +:1001E000F8E202C005900D92AA37B107D9F721E0D5 :1001F000AAE7B0E001C01D92A836B207E1F70E945D -:1002000020060C9482130C9400001F920F920FB6DC +:1002000020060C945A140C9400001F920F920FB603 :100210000F9211242F933F934F935F936F937F938C :100220008F939F93AF93BF93EF93FF9381B1887F99 :10023000803881F040F4803609F01CC385EC86BF1D @@ -74,7 +74,7 @@ :100490008091A4009091A500A091A600B091A70022 :1004A0006627782F892F9A2F622B6093A400709370 :1004B000A5008093A6009093A70023E33BE542E8C4 -:1004C00055E40E9431100E94110F7093D100609387 +:1004C00055E40E9409110E94E90F7093D1006093D6 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+:102860009B81009719F0FE01EC01F9CFCE01029691 +:1028700028813981820F931F209164013091650175 +:102880002817390769F4309729F4109267011092DC +:10289000660102C013821282D0936501C093640165 +:1028A000DF91CF910895DC0101C06D9341505040FC +:0828B000E0F70895F894FFCF52 +:1028B8000080008000800080010100006801200085 +:0A28C8000D0A53746172740D0000D4 :00000001FF diff --git a/scripts/wt_node.py b/scripts/wt_node.py index a5978b0..3d1c972 100755 --- a/scripts/wt_node.py +++ b/scripts/wt_node.py @@ -68,7 +68,7 @@ class MoveBase: self.handicap_last = (-1, -1) self.pStripe = LPD8806(1, 0, 12) rospy.Subscriber("cmd_vel_out", Twist, self.cmdVelReceived) - rospy.Subscriber("imu", Imu, self.imuReceived) + #rospy.Subscriber("imu", Imu, self.imuReceived) rospy.Subscriber("led_stripe", LedStripe, self.led_stripe_received) self.run() @@ -80,7 +80,7 @@ class MoveBase: i = 0 while not rospy.is_shutdown(): #print struct.unpack(">B", i2c_read_reg(0x50, 0xA2, 1))[0] # count test - self.get_tle_err() + self.get_motor_err() self.get_odom() self.get_voltage() if i % 2: @@ -141,7 +141,7 @@ class MoveBase: return reset - def get_tle_err(self): + def get_motor_err(self): err = struct.unpack(">B", i2c_read_reg(0x50, 0xA1, 1))[0] msg = DiagnosticArray() @@ -151,10 +151,16 @@ class MoveBase: stat.level = DiagnosticStatus.ERROR if err else DiagnosticStatus.OK stat.message = "0x%02x" % err - stat.values.append(KeyValue("aft left", str(bool(err & (1 << 0))))) - stat.values.append(KeyValue("front left", str(bool(err & (1 << 1))))) - stat.values.append(KeyValue("front right", str(bool(err & (1 << 2))))) - stat.values.append(KeyValue("aft right", str(bool(err & (1 << 3))))) + # Diag + stat.values.append(KeyValue("aft left diag", str(bool(err & (1 << 0))))) + stat.values.append(KeyValue("front left diag", str(bool(err & (1 << 1))))) + stat.values.append(KeyValue("aft right diag", str(bool(err & (1 << 2))))) + stat.values.append(KeyValue("front right diag", str(bool(err & (1 << 3))))) + # Stall + stat.values.append(KeyValue("aft left stall", str(bool(err & (1 << 4))))) + stat.values.append(KeyValue("front left stall", str(bool(err & (1 << 5))))) + stat.values.append(KeyValue("aft right stall", str(bool(err & (1 << 6))))) + stat.values.append(KeyValue("front right stall", str(bool(err & (1 << 7))))) msg.status.append(stat) self.pub_diag.publish(msg) -- 2.39.2