krobot-commits

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

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- Log -----------------------------------------------------------------
commit 387e765be280cde4559fa39b47ae6650e728b813
Author: Xavier Lagorce <Xav...@cr...>
Date:   Tue May 15 16:45:13 2012 +0200

    [Controller_Motor_STM32] Bug fixes and detection

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

Changes:
diff --git a/elec/boards/Controller_Motor_STM32/Firmwares/lib/differential_drive.c b/elec/boards/Controller_Motor_STM32/Firmwares/lib/differential_drive.c
index 01fa1d2..487ae75 100644
--- a/elec/boards/Controller_Motor_STM32/Firmwares/lib/differential_drive.c
+++ b/elec/boards/Controller_Motor_STM32/Firmwares/lib/differential_drive.c
@@ -148,8 +148,10 @@ static void NORETURN traj_following_process(void) {
           u2=w2*powf(cosf(rs.theta-params.ghost_state.theta),2)+v_rot;
 
           // Apply command
-          dd_set_linear_speed(u1, 0.);
-          dd_set_rotational_speed(u2, 0.);
+          if (params.working) {
+            dd_set_linear_speed(u1, 0.);
+            dd_set_rotational_speed(u2, 0.);
+          }
 
           // Keep current time
           last_time = cur_time;
diff --git a/elec/boards/Controller_Motor_STM32/Firmwares/lib/motor_controller.c b/elec/boards/Controller_Motor_STM32/Firmwares/lib/motor_controller.c
index 6caa48f..2c2ae81 100644
--- a/elec/boards/Controller_Motor_STM32/Firmwares/lib/motor_controller.c
+++ b/elec/boards/Controller_Motor_STM32/Firmwares/lib/motor_controller.c
@@ -209,7 +209,12 @@ static void NORETURN motorController_process(void) {
       params->last_encoder_pos = encoder_pos;
 
       // Apply command
-      motorSetSpeed(params->motor, (int32_t)params->last_command);
+      if (isnan(params->last_command)) {
+        motorSetSpeed(params->motor, 0);
+        motor_led_on(params->motor);
+      } else {
+        motorSetSpeed(params->motor, (int32_t)params->last_command);
+      }
     }
     timer_waitEvent(&timer); // Wait for the remaining of the sample period
   }


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