From cb550b3db6e7e76adabc476ab9a3a2a8efe3ab82 Mon Sep 17 00:00:00 2001 From: Erik Andresen Date: Sun, 31 May 2015 11:53:57 +0200 Subject: [PATCH] avr/motor_ctrl: implemented handicap --- avr/motor_ctrl/main.c | 20 +- avr/motor_ctrl/main.hex | 1200 ++++++++++++++++++++------------------- 2 files changed, 624 insertions(+), 596 deletions(-) diff --git a/avr/motor_ctrl/main.c b/avr/motor_ctrl/main.c index 2713674..f8a5c34 100644 --- a/avr/motor_ctrl/main.c +++ b/avr/motor_ctrl/main.c @@ -87,6 +87,8 @@ * 0x91 Motor 2 switch * 0x92 Motor 3 switch * 0x93 Motor 4 switch + * 0x94 Front Handicap + * 0x95 Aft Handicap * free * 0xA0 Reset reason * 0xA1 TLE Error status @@ -156,6 +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; ISR(TWI_vect) { @@ -340,6 +344,14 @@ ISR(TWI_vect) motor4_switch = TWDR; TWI_ACK; break; + case 0x94: // Front Handicap + front_handicap = TWDR; + TWI_ACK; + break; + case 0x95: // Aft Handicap + aft_handicap = TWDR; + TWI_ACK; + break; case 0xff: // bootloader bootloader = TWDR; default: @@ -948,10 +960,10 @@ int main(void) { speed_wish_left*=STEP_PER_M; speed_wish_right*=STEP_PER_M; - speed1_wish = speed_wish_left; - speed2_wish = speed_wish_left; - speed3_wish = speed_wish_right; - speed4_wish = speed_wish_right; + 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; 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 d628a26..89e9c4d 100644 --- a/avr/motor_ctrl/main.hex +++ b/avr/motor_ctrl/main.hex @@ -1,603 +1,619 @@ :100000000C9445000C9462000C9462000C94620005 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