From a40cf061b04718ece7057174a36f3c3c818f6f61 Mon Sep 17 00:00:00 2001 From: Erik Andresen Date: Sun, 12 Nov 2017 10:15:44 +0100 Subject: [PATCH] avr/motor_ctrl: Disable engines after 1s off inativity --- avr/motor_ctrl/main.c | 12 + avr/motor_ctrl/main.hex | 1370 ++++++++++++++++++++------------------- 2 files changed, 700 insertions(+), 682 deletions(-) diff --git a/avr/motor_ctrl/main.c b/avr/motor_ctrl/main.c index ec9965f..b0d9cbf 100644 --- a/avr/motor_ctrl/main.c +++ b/avr/motor_ctrl/main.c @@ -113,6 +113,7 @@ #define WHEEL_DIST 0.39912 // Measured: 0.252 #define PWM_BREAK INT16_MIN #define STALL_LIMIT 140000 +#define I2C_TIMEOUT_DISABLE 255 #define TWI_ACK TWCR = (1< 100) { + // ~1s without a new i2c command + cmd_vel.speed = 0; + cmd_vel.angle = 0; + cmd_vel.bUpdate = 1; + last_man_update_count = I2C_TIMEOUT_DISABLE; + } } sleep_mode(); diff --git a/avr/motor_ctrl/main.hex b/avr/motor_ctrl/main.hex index 5f613d5..a9b8eea 100644 --- a/avr/motor_ctrl/main.hex +++ 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