From ac14ad5ea1d0ae804b67ff41a7174afcf0dc00c1 Mon Sep 17 00:00:00 2001 From: Erik Andresen Date: Sun, 17 Sep 2017 20:28:05 +0200 Subject: [PATCH] avr/motor_ctrl: Prevent dangerous immediate engine reverse in PID --- avr/motor_ctrl/main.c | 12 +- avr/motor_ctrl/main.hex | 887 ++++++++++++++++++++-------------------- 2 files changed, 461 insertions(+), 438 deletions(-) diff --git a/avr/motor_ctrl/main.c b/avr/motor_ctrl/main.c index 3642d4a..d751375 100644 --- a/avr/motor_ctrl/main.c +++ b/avr/motor_ctrl/main.c @@ -937,7 +937,8 @@ static void update_pid(void) { speed1_wish_old = speed1_wish; } - if (speed1_wish == 0) { + uint8_t dir_change = (speed1_wish > 0 && speed1 < 0) || (speed1_wish < 0 && speed1 > 0); // Prevent dangerous immediate engine reverse + if (speed1_wish == 0 || dir_change) { motor1 = 0; eold1 = 0; error_state &= ~(1<<4); @@ -959,7 +960,8 @@ static void update_pid(void) { speed2_wish_old = speed2_wish; } - if (speed2_wish == 0) { + uint8_t dir_change = (speed2_wish > 0 && speed2 < 0) || (speed2_wish < 0 && speed2 > 0); // Prevent dangerous immediate engine reverse + if (speed2_wish == 0 || dir_change) { motor2 = 0; eold2 = 0; error_state &= ~(1<<5); @@ -981,7 +983,8 @@ static void update_pid(void) { speed3_wish_old = speed3_wish; } - if (speed3_wish == 0) { + uint8_t dir_change = (speed3_wish > 0 && speed3 < 0) || (speed3_wish < 0 && speed3 > 0); // Prevent dangerous immediate engine reverse + if (speed3_wish == 0 || dir_change) { motor3 = 0; eold3 = 0; error_state &= ~(1<<6); @@ -1003,7 +1006,8 @@ static void update_pid(void) { speed4_wish_old = speed4_wish; } - if (speed4_wish == 0) { + uint8_t dir_change = (speed4_wish > 0 && speed4 < 0) || (speed4_wish < 0 && speed4 > 0); // Prevent dangerous immediate engine reverse + if (speed4_wish == 0 || dir_change) { motor4 = 0; eold4 = 0; error_state &= ~(1<<7); diff --git a/avr/motor_ctrl/main.hex b/avr/motor_ctrl/main.hex index e21a45e..5f613d5 100644 --- a/avr/motor_ctrl/main.hex +++ b/avr/motor_ctrl/main.hex @@ -27,10 +27,10 @@ :1001A000A9020C50B9918688083CA6AAAA2ABE00CA :1001B0000000803F45464765666700202B2D2E30A6 :1001C00031323334353637383968000011241FBED8 -:1001D000CFE5D8E0DEBFCDBF10E0A0E6B0E0E2E7BB -:1001E000FBE202C005900D92AA37B107D9F721E0D2 +:1001D000CFE5D8E0DEBFCDBF10E0A0E6B0E0EAEAB0 +:1001E000FCE202C005900D92AA37B107D9F721E0D1 :1001F000AAE7B0E001C01D92A037B207E1F70E9464 -:1002000036060C94B7150C9400001F920F920FB68F +:1002000036060C9453160C9400001F920F920FB6F2 :100210000F9211242F933F934F935F936F937F938C :100220008F939F93AF93BF93EF93FF9381B1887F99 :10023000803A09F425C328F4803651F0803869F0FB @@ -74,8 +74,8 @@ :10049000DC00E6C123B18091A4009091A500A09159 :1004A000A600B091A700BA2FA92F982F8827BC01CA :1004B000CD01622B6093A4007093A5008093A600E9 -:1004C0009093A70020E038E24EEA55E40E94021221 -:1004D0000E94D6107093D9006093D8007093D70013 +:1004C0009093A70020E038E24EEA55E40E949E1285 +:1004D0000E9472117093D9006093D8007093D70076 :1004E0006093D60081E08093DF008093DE00B8C186 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