From d91b00658ab90c6a4d95b2976dbcd0663c52595f Mon Sep 17 00:00:00 2001 From: Erik Andresen Date: Fri, 1 Apr 2016 15:41:23 +0200 Subject: [PATCH] fix motor direction after error state --- avr/motor_ctrl/main.c | 39 +- avr/motor_ctrl/main.hex | 901 ++++++++++++++++++++-------------------- 2 files changed, 479 insertions(+), 461 deletions(-) diff --git a/avr/motor_ctrl/main.c b/avr/motor_ctrl/main.c index 048fab0..e8c3d3f 100644 --- a/avr/motor_ctrl/main.c +++ b/avr/motor_ctrl/main.c @@ -673,17 +673,34 @@ static void update_motor(void) { error_state = ~((PIND & 0x40)>>3 | (PINB & 0x07)) & 0xf; - // if error and running: stop - if (motor1_mode == MOTOR_PID && bit_is_set(error_state, 0) && m1_old != 0) motor1 = 0; - if (motor2_mode == MOTOR_PID && bit_is_set(error_state, 1) && m2_old != 0) motor2 = 0; - if (motor3_mode == MOTOR_PID && bit_is_set(error_state, 2) && m3_old != 0) motor3 = 0; - if (motor4_mode == MOTOR_PID && bit_is_set(error_state, 3) && m4_old != 0) motor4 = 0; - - // if we start motor in error state: start with full power - if (motor1_mode == MOTOR_PID && bit_is_set(error_state, 0) && m1_old == 0 && motor1 != 0) motor1 = 255; - if (motor2_mode == MOTOR_PID && bit_is_set(error_state, 1) && m2_old == 0 && motor2 != 0) motor2 = 255; - if (motor3_mode == MOTOR_PID && bit_is_set(error_state, 2) && m3_old == 0 && motor3 != 0) motor3 = 255; - if (motor4_mode == MOTOR_PID && bit_is_set(error_state, 3) && m4_old == 0 && motor4 != 0) motor4 = 255; + if (motor1_mode == MOTOR_PID && bit_is_set(error_state, 0)) { + // if error and running: stop + if (m1_old != 0) motor1 = 0; + // if we start motor in error state: start with full power + else if (motor1 > 0) motor1 = 255; + else if (motor1 < 0) motor1 = -255; + } + if (motor2_mode == MOTOR_PID && bit_is_set(error_state, 1)) { + // if error and running: stop + if (m2_old != 0) motor2 = 0; + // if we start motor in error state: start with full power + else if (motor2 > 0) motor2 = 255; + else if (motor2 < 0) motor2 = -255; + } + if (motor3_mode == MOTOR_PID && bit_is_set(error_state, 2)) { + // if error and running: stop + if (m3_old != 0) motor3 = 0; + // if we start motor in error state: start with full power + else if (motor3 > 0) motor3 = 255; + else if (motor3 < 0) motor3 = -255; + } + if (motor4_mode == MOTOR_PID && bit_is_set(error_state, 3)) { + // if error and running: stop + if (m4_old != 0) motor4 = 0; + // if we start motor in error state: start with full power + else if (motor4 > 0) motor4 = 255; + else if (motor4 < 0) motor4 = -255; + } if (m1_old != motor1) { // update only when changed if (motor1 == 0) { diff --git a/avr/motor_ctrl/main.hex b/avr/motor_ctrl/main.hex index 72a9ae8..0cebf42 100644 --- a/avr/motor_ctrl/main.hex +++ b/avr/motor_ctrl/main.hex @@ -7,10 +7,10 @@ :100060000C50B9918688083CA6AAAA2ABE000000B6 :10007000803F45464765666700202B2D2E30313284 :100080003334353637383968000011241FBECFE5C8 -:10009000D8E0DEBFCDBF10E0A0E6B0E0E4E5F8E2D6 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