From c79c0e44c7fdd7603a1910bc92fd80b6eb60ee78 Mon Sep 17 00:00:00 2001 From: Erik Andresen Date: Sun, 14 Jun 2015 12:01:40 +0200 Subject: [PATCH] avr/motor_ctrl: odom fixes --- avr/motor_ctrl/main.c | 4 +- avr/motor_ctrl/main.hex | 820 ++++++++++++++++++++-------------------- 2 files changed, 412 insertions(+), 412 deletions(-) diff --git a/avr/motor_ctrl/main.c b/avr/motor_ctrl/main.c index bd9fc9e..fbdc1ce 100644 --- a/avr/motor_ctrl/main.c +++ b/avr/motor_ctrl/main.c @@ -106,7 +106,7 @@ #define KI 0.051429 #define KD 0.000378 #define PID_T 0.01 -#define STEP_PER_M 3376.1 // wheel diameter=12cm, encoder=48cpr, gear ratio=1:34 +#define STEP_PER_M 4171.4 // wheel diameter=12cm, encoder=48cpr, gear ratio=1:34 #define WHEEL_DIST 0.252 enum mode { @@ -778,7 +778,7 @@ static void update_pos(void) { angle_new = angle.f + angle_diff; if (angle_new > 2*M_PI) angle_new-=2*M_PI; - else if (angle_new < 2*M_PI) angle_new+=2*M_PI; + else if (angle_new < -2*M_PI) angle_new+=2*M_PI; translation = (diff_left_m + diff_right_m)/2.0; pos_x_new = pos_x.f + cos(angle_new)*translation; diff --git a/avr/motor_ctrl/main.hex b/avr/motor_ctrl/main.hex index ed98346..cecc72d 100644 --- a/avr/motor_ctrl/main.hex +++ b/avr/motor_ctrl/main.hex @@ -7,10 +7,10 @@ :100060000C50B9918688083CA6AAAA2ABE000000B6 :10007000803F45464765666700202B2D2E30313284 :100080003334353637383968000011241FBECFE5C8 -:10009000D8E0DEBFCDBF10E0A0E6B0E0E2E3F7E2DB +:10009000D8E0DEBFCDBF10E0A0E6B0E0EAE3F7E2D3 :1000A00002C005900D92A837B107D9F721E0A8E763 :1000B000B0E001C01D92A736B207E1F70E94220608 -:1000C0000C9497130C9400001F920F920FB60F928E +:1000C0000C949B130C9400001F920F920FB60F928A :1000D00011242F933F934F935F936F937F938F934D :1000E0009F93AF93BF93EF93FF9381B1887F803845 :1000F00081F040F4803609F0BFC385EC86BF1092D2 @@ -53,8 +53,8 @@ :100340008093C70081E08093D30086C223B180915F :10035000A2009091A300A091A400B091A5006627EF :10036000782F892F9A2F622B6093A2007093A3009D -:100370008093A4009093A5002AE931E043E555E479 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