krobot-commits

[Xavier L. <Ba...@us...>]

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- Log -----------------------------------------------------------------
commit f3ba0f4c3e5b991400c322baeaec5decc5eb787f
Author: Xavier Lagorce <Xav...@cr...>
Date:   Sat Apr 2 14:35:50 2011 +0200

    [Controller_Motor_STM32] Corrections

-----------------------------------------------------------------------

Changes:
diff --git a/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/main.c b/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/main.c
index 347a7c3..357f7b8 100644
--- a/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/main.c
+++ b/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/main.c
@@ -56,13 +56,15 @@ static void init(void)
         params.l0[1] = 3.9715;
         params.T = 0.005;
         // Initialize left motor
+        params.motor = MOTOR3;
         params.encoder = ENCODER3;
         tc_new_controller(2);
-        mc_new_controller(&params, tc_get_position_generator(0));
+        mc_new_controller(&params, tc_get_position_generator(2));
         // Initialize right motor
+        params.motor = MOTOR4;
         params.encoder = ENCODER4;
         tc_new_controller(3);
-        mc_new_controller(&params, tc_get_position_generator(1));
+        mc_new_controller(&params, tc_get_position_generator(3));
 
         // Start odometry
         odometryInit(1e-3, 0.049245, 0.259, -2.0*M_PI/2000.0/15.0);
@@ -79,7 +81,7 @@ static void init(void)
           LED3_OFF();
           LED4_OFF();
           timer_delay(100);
-        }
+          }
 }
 
 static void NORETURN ind_process(void)
diff --git a/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/motor_controller.c b/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/motor_controller.c
index 93d092b..537c174 100644
--- a/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/motor_controller.c
+++ b/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/motor_controller.c
@@ -35,7 +35,7 @@ typedef struct
   ticks_t T;                        // sampling period in systicks
 } control_params_t;
 
-control_params_t controllers[4];
+static control_params_t controllers[4];
 
 static inline uint8_t get_motor_index(uint8_t motor_id) {
   uint8_t motor_ind;
diff --git a/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/trajectory_controller.c b/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/trajectory_controller.c
index 605913d..5bd2734 100644
--- a/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/trajectory_controller.c
+++ b/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/trajectory_controller.c
@@ -36,7 +36,7 @@ typedef struct {
 void trapezoid_callback(command_generator_t *generator);
 void acc_stop_callback(command_generator_t *generator);
 
-trajectory_controller_t controllers[NUM_TC_MAX];
+static trajectory_controller_t controllers[NUM_TC_MAX];
 
 void trapezoid_callback(command_generator_t *generator) {
   trajectory_controller_t *cont = NULL;
@@ -271,6 +271,11 @@ void tc_goto_speed(uint8_t cntr_index, float speed, float acceleration) {
   if (!cont->enabled)
     return;
 
+  // Disable a possibly running trapezoidal profile
+  cont->aut.state = TRAPEZOID_STATE_STOP;
+  remove_callback(&cont->position);
+  remove_callback(&cont->speed);
+
   cont->aut.speed = speed;
   cont->aut.dir = SIGN(speed - cont->speed.type.last_output);
   // Set acceleration sign depending on the current speed


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