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[Krobot-commits] [SCM] krobot branch, master, updated. ed43d4c1bc88439af91de49e40066f14379f1654
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From: Olivier B. <Ba...@us...> - 2010-02-05 18:24:07
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This is an automated email from the git hooks/post-receive script. It was
generated because a ref change was pushed to the repository containing
the project "krobot".
The branch, master has been updated
via ed43d4c1bc88439af91de49e40066f14379f1654 (commit)
from 68d618fe759888d1531780cc195c6f35fc75bbff (commit)
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not appeared on any other notification email; so we list those
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- Log -----------------------------------------------------------------
commit ed43d4c1bc88439af91de49e40066f14379f1654
Author: Olivier BICHLER <oli...@gm...>
Date: Fri Feb 5 19:23:10 2010 +0100
Correction du firmware de la carte Motor_Controller pour que le sens de rotation des moteurs soit cohérent (à tester)
-----------------------------------------------------------------------
Changes:
diff --git a/USB_Module/Motor_Controller/Firmware/Motor_Controller.mcw b/USB_Module/Motor_Controller/Firmware/Motor_Controller.mcw
index 8677ac5..e9cc119 100644
Binary files a/USB_Module/Motor_Controller/Firmware/Motor_Controller.mcw and b/USB_Module/Motor_Controller/Firmware/Motor_Controller.mcw differ
diff --git a/USB_Module/Motor_Controller/Firmware/lm629.c b/USB_Module/Motor_Controller/Firmware/lm629.c
index bcf050b..77d23a7 100644
--- a/USB_Module/Motor_Controller/Firmware/lm629.c
+++ b/USB_Module/Motor_Controller/Firmware/lm629.c
@@ -481,22 +481,26 @@ void newPosition(char axis, DWORD pos, DWORD vel, DWORD acc) {
* l'accration ne peut pas e changen court de trajectoire
*
* @param dir sens de rotation, peut valoir : @n
- * #LM_LTRJ_FORWARD_DIR avance @n
- * #LM_LTRJ_BACKWARD_DIR recule
+ * >= 0 avance @n
+ * < 0 recule
*/
-void newVelocity(char axis, DWORD vel, DWORD acc, WORD dir) {
+void newVelocity(char axis, DWORD vel, DWORD acc, char dir) {
DWORD_VAL velData = {vel};
DWORD_VAL accData = {acc};
+ WORD dirArg = 0;
writeCommand(axis, LM_CMD_LTRJ);
+ if (dir >= 0)
+ dirArg = LM_LTRJ_FORWARD_DIR;
+
if (accData.Val != NULL) {
- writeDataWord(axis, LM_LTRJ_LOAD_VEL | LM_LTRJ_LOAD_ACC | LM_LTRJ_VEL_MODE | dir);
+ writeDataWord(axis, LM_LTRJ_LOAD_VEL | LM_LTRJ_LOAD_ACC | LM_LTRJ_VEL_MODE | dirArg);
writeDataWord(axis, accData.word.HW);
writeDataWord(axis, accData.word.LW);
}
else
- writeDataWord(axis, LM_LTRJ_LOAD_VEL | LM_LTRJ_VEL_MODE | dir);
+ writeDataWord(axis, LM_LTRJ_LOAD_VEL | LM_LTRJ_VEL_MODE | dirArg);
writeDataWord(axis, velData.word.HW);
writeDataWord(axis, velData.word.LW);
@@ -512,10 +516,10 @@ void newVelocity(char axis, DWORD vel, DWORD acc, WORD dir) {
*
* @param vel vitesse, sur 16 bits
* @param dir sens de rotation, peut valoir : @n
- * #LM_LTRJ_FORWARD_DIR avance @n
- * #LM_LTRJ_BACKWARD_DIR recule
+ * >= 0 avance @n
+ * < 0 recule
*/
-void changeVelocity(char axis, DWORD vel, WORD dir) {
+void changeVelocity(char axis, DWORD vel, char dir) {
newVelocity(axis, vel, NULL, dir);
}
@@ -573,11 +577,11 @@ void moveForward(short pos, short vel, short acc) {
resetInterrupt(MOTOR_BOTH);
newPosition(MOTOR_RIGHT,
- - (long) ((float) pos * COEF_RIGHT_WHEEL),
+ CON_MOTOR_RIGHT * (long) ((float) pos * COEF_RIGHT_WHEEL),
(long) ((float) vel * COEF_RIGHT_WHEEL * CONST_VEL),
(long) ((float) acc * COEF_RIGHT_WHEEL * CONST_ACC));
newPosition(MOTOR_LEFT,
- (long) ((float) pos * COEF_LEFT_WHEEL),
+ CON_MOTOR_LEFT * (long) ((float) pos * COEF_LEFT_WHEEL),
(long) ((float) vel * COEF_LEFT_WHEEL * CONST_VEL),
(long) ((float) acc * COEF_LEFT_WHEEL * CONST_ACC));
@@ -595,11 +599,11 @@ void moveBackward(short pos, short vel, short acc) {
resetInterrupt(MOTOR_BOTH);
newPosition(MOTOR_RIGHT,
- (long) ((float) pos * COEF_RIGHT_WHEEL),
+ - CON_MOTOR_RIGHT * (long) ((float) pos * COEF_RIGHT_WHEEL),
(long) ((float) vel * COEF_RIGHT_WHEEL * CONST_VEL),
(long) ((float) acc * COEF_RIGHT_WHEEL * CONST_ACC));
newPosition(MOTOR_LEFT,
- - (long) ((float) pos * COEF_LEFT_WHEEL),
+ - CON_MOTOR_LEFT * (long) ((float) pos * COEF_LEFT_WHEEL),
(long) ((float) vel * COEF_LEFT_WHEEL * CONST_VEL),
(long) ((float) acc * COEF_LEFT_WHEEL * CONST_ACC));
@@ -617,11 +621,11 @@ void turnRight(short angle, short vel, short acc) {
resetInterrupt(MOTOR_BOTH);
newPosition(MOTOR_RIGHT,
- (long) ((float) angle * CONST_POS * WHEELS_DIST * COEF_RIGHT_WHEEL),
+ - CON_MOTOR_RIGHT * (long) ((float) angle * CONST_POS * WHEELS_DIST * COEF_RIGHT_WHEEL),
(long) ((float) vel * COEF_RIGHT_WHEEL * CONST_VEL),
(long) ((float) acc * COEF_RIGHT_WHEEL * CONST_ACC));
newPosition(MOTOR_LEFT,
- (long) ((float) angle * CONST_POS * WHEELS_DIST * COEF_LEFT_WHEEL),
+ CON_MOTOR_LEFT * (long) ((float) angle * CONST_POS * WHEELS_DIST * COEF_LEFT_WHEEL),
(long) ((float) vel * COEF_LEFT_WHEEL * CONST_VEL),
(long) ((float) acc * COEF_LEFT_WHEEL * CONST_ACC));
@@ -639,11 +643,11 @@ void turnLeft(short angle, short vel, short acc) {
resetInterrupt(MOTOR_BOTH);
newPosition(MOTOR_RIGHT,
- - (long) ((float) angle * CONST_POS * WHEELS_DIST * COEF_RIGHT_WHEEL),
+ CON_MOTOR_RIGHT * (long) ((float) angle * CONST_POS * WHEELS_DIST * COEF_RIGHT_WHEEL),
(long) ((float) vel * COEF_RIGHT_WHEEL * CONST_VEL),
(long) ((float) acc * COEF_RIGHT_WHEEL * CONST_ACC));
newPosition(MOTOR_LEFT,
- - (long) ((float) angle * CONST_POS * WHEELS_DIST * COEF_LEFT_WHEEL),
+ - CON_MOTOR_LEFT * (long) ((float) angle * CONST_POS * WHEELS_DIST * COEF_LEFT_WHEEL),
(long) ((float) vel * COEF_LEFT_WHEEL * CONST_VEL),
(long) ((float) acc * COEF_LEFT_WHEEL * CONST_ACC));
diff --git a/USB_Module/Motor_Controller/Firmware/lm629.h b/USB_Module/Motor_Controller/Firmware/lm629.h
index 479d779..a538f3e 100644
--- a/USB_Module/Motor_Controller/Firmware/lm629.h
+++ b/USB_Module/Motor_Controller/Firmware/lm629.h
@@ -19,10 +19,14 @@
//#define ENCODER_RES 15*500 ///< Impulsions du codeur par tour de roue (prendre en compte le rcteur selon le cas !)
//#define WHEELS_DIAMETER 80 ///< Diame des roues (en mm)
//#define WHEELS_DIST 268 ///< Distance entre les 2 roues (en mm)
+//#define CON_MOTOR_LEFT 1
+//#define CON_MOTOR_RIGHT 1
-#define ENCODER_RES 90 ///< Impulsions du codeur par tour de roue (prendre en compte le rcteur selon le cas !)
-#define WHEELS_DIAMETER 99 ///< Diame des roues (en mm)
-#define WHEELS_DIST 220 ///< Distance entre les 2 roues (en mm)
+#define ENCODER_RES 90 ///< Impulsions du codeur par tour de roue (prendre en compte le rcteur selon le cas !)
+#define WHEELS_DIAMETER 99 ///< Diame des roues (en mm)
+#define WHEELS_DIST 220 ///< Distance entre les 2 roues (en mm)
+#define CON_MOTOR_LEFT 1
+#define CON_MOTOR_RIGHT -1
/**
* Parames par dult du correcteur.
@@ -148,7 +152,6 @@
#define LM_LTRJ_STOP_SMOOTH 1024
#define LM_LTRJ_VEL_MODE 2048
#define LM_LTRJ_FORWARD_DIR 4096
-#define LM_LTRJ_BACKWARD_DIR 0
// Haut niveau
#define GOTO_STRAIGHT 0
@@ -195,8 +198,8 @@ void initLM(char axis, WORD kp, WORD ki, WORD kd, WORD il);
// Fonctions de gration des trajectoires
void newPosition(char axis, DWORD pos, DWORD vel, DWORD acc);
-void newVelocity(char axis, DWORD vel, DWORD acc, WORD dir);
-void changeVelocity(char axis, DWORD vel, WORD dir);
+void newVelocity(char axis, DWORD vel, DWORD acc, char dir);
+void changeVelocity(char axis, DWORD vel, char dir);
void start(char axis);
void stop(char axis, WORD type);
diff --git a/USB_Module/Motor_Controller/Firmware/main.c b/USB_Module/Motor_Controller/Firmware/main.c
index 99455f0..f668df4 100644
--- a/USB_Module/Motor_Controller/Firmware/main.c
+++ b/USB_Module/Motor_Controller/Firmware/main.c
@@ -1020,10 +1020,22 @@ void ProcessIO(void) {
word3.byte.HB = ReceivedDataBuffer.DATA[6];
word3.byte.LB = ReceivedDataBuffer.DATA[7];
- newPosition(ReceivedDataBuffer.DATA[1],
- (long) ((float) word1.Val * COEF_WHEEL),
- (long) ((float) word2.Val * COEF_WHEEL * CONST_VEL),
- (long) ((float) word3.Val * COEF_WHEEL * CONST_ACC));
+ if (ReceivedDataBuffer.DATA[1] == MOTOR_BOTH && CON_MOTOR_RIGHT != CON_MOTOR_LEFT) {
+ newPosition(MOTOR_RIGHT,
+ CON_MOTOR_RIGHT * (long) ((float) word1.Val * COEF_WHEEL),
+ (long) ((float) word2.Val * COEF_WHEEL * CONST_VEL),
+ (long) ((float) word3.Val * COEF_WHEEL * CONST_ACC));
+ newPosition(MOTOR_LEFT,
+ CON_MOTOR_LEFT * (long) ((float) word1.Val * COEF_WHEEL),
+ (long) ((float) word2.Val * COEF_WHEEL * CONST_VEL),
+ (long) ((float) word3.Val * COEF_WHEEL * CONST_ACC));
+ }
+ else {
+ newPosition(ReceivedDataBuffer.DATA[1],
+ CON_MOTOR_RIGHT * (long) ((float) word1.Val * COEF_WHEEL),
+ (long) ((float) word2.Val * COEF_WHEEL * CONST_VEL),
+ (long) ((float) word3.Val * COEF_WHEEL * CONST_ACC));
+ }
break;
case TRAJ_NEW_VELOCITY:
@@ -1031,24 +1043,42 @@ void ProcessIO(void) {
word1.byte.LB = ReceivedDataBuffer.DATA[3];
word2.byte.HB = ReceivedDataBuffer.DATA[4];
word2.byte.LB = ReceivedDataBuffer.DATA[5];
- word3.byte.HB = ReceivedDataBuffer.DATA[6];
- word3.byte.LB = ReceivedDataBuffer.DATA[7];
- newVelocity(ReceivedDataBuffer.DATA[1],
- (long) ((float) word1.Val * COEF_WHEEL * CONST_VEL),
- (long) ((float) word2.Val * COEF_WHEEL * CONST_ACC),
- word3.Val);
+ if (ReceivedDataBuffer.DATA[1] == MOTOR_BOTH && CON_MOTOR_RIGHT != CON_MOTOR_LEFT) {
+ newVelocity(MOTOR_RIGHT,
+ (long) ((float) word1.Val * COEF_WHEEL * CONST_VEL),
+ (long) ((float) word2.Val * COEF_WHEEL * CONST_ACC),
+ CON_MOTOR_RIGHT * ReceivedDataBuffer.DATA[6]);
+ newVelocity(MOTOR_LEFT,
+ (long) ((float) word1.Val * COEF_WHEEL * CONST_VEL),
+ (long) ((float) word2.Val * COEF_WHEEL * CONST_ACC),
+ CON_MOTOR_LEFT * ReceivedDataBuffer.DATA[6]);
+ }
+ else {
+ newVelocity(ReceivedDataBuffer.DATA[1],
+ (long) ((float) word1.Val * COEF_WHEEL * CONST_VEL),
+ (long) ((float) word2.Val * COEF_WHEEL * CONST_ACC),
+ CON_MOTOR_RIGHT * ReceivedDataBuffer.DATA[6]);
+ }
break;
case TRAJ_CHANGE_VELOCITY:
word1.byte.HB = ReceivedDataBuffer.DATA[2];
word1.byte.LB = ReceivedDataBuffer.DATA[3];
- word2.byte.HB = ReceivedDataBuffer.DATA[4];
- word2.byte.LB = ReceivedDataBuffer.DATA[5];
- changeVelocity(ReceivedDataBuffer.DATA[1],
- (long) ((float) word1.Val * COEF_WHEEL * CONST_VEL),
- word2.Val);
+ if (ReceivedDataBuffer.DATA[1] == MOTOR_BOTH && CON_MOTOR_RIGHT != CON_MOTOR_LEFT) {
+ changeVelocity(MOTOR_RIGHT,
+ (long) ((float) word1.Val * COEF_WHEEL * CONST_VEL),
+ CON_MOTOR_RIGHT * ReceivedDataBuffer.DATA[4]);
+ changeVelocity(MOTOR_LEFT,
+ (long) ((float) word1.Val * COEF_WHEEL * CONST_VEL),
+ CON_MOTOR_LEFT * ReceivedDataBuffer.DATA[4]);
+ }
+ else {
+ changeVelocity(ReceivedDataBuffer.DATA[1],
+ (long) ((float) word1.Val * COEF_WHEEL * CONST_VEL),
+ CON_MOTOR_RIGHT * ReceivedDataBuffer.DATA[4]);
+ }
break;
case TRAJ_START:
diff --git a/USB_Module/Motor_Controller/Firmware/output/Motor_controller.cof b/USB_Module/Motor_Controller/Firmware/output/Motor_controller.cof
index 6bb7b34..603e1c6 100644
Binary files a/USB_Module/Motor_Controller/Firmware/output/Motor_controller.cof and b/USB_Module/Motor_Controller/Firmware/output/Motor_controller.cof differ
diff --git a/USB_Module/Motor_Controller/Firmware/output/Motor_controller.hex b/USB_Module/Motor_Controller/Firmware/output/Motor_controller.hex
index da8ad26..32b1f0b 100644
--- a/USB_Module/Motor_Controller/Firmware/output/Motor_controller.hex
+++ b/USB_Module/Motor_Controller/Firmware/output/Motor_controller.hex
@@ -1,136 +1,136 @@
:020000040000FA
-:0600000053EF2FF0120087
+:060000002CEF33F01200AA
:0600080004EF04F01200F9
:060018000CEF04F01200E1
-:0608000053EF2FF012007F
+:060800002CEF33F01200A2
:060808002EEF04F01200C7
:0608180096EF04F012004F
-:06082A000400395F00002C
-:100830002601000021000000315F00005F01000080
-:1008400008000000235F0000470100000E000000C8
-:0C085000205F00006A01000003000000AF
+:06082A000400EB66000073
+:100830002601000021000000E36600005F010000C7
+:1008400008000000D5660000470100000E0000000F
+:0C085000D26600006A01000003000000F6
:04085C00DACFE4FF0C
:10086000E2CFDAFFE9CFE4FFEACFE4FFF6CFE4FF1F
:10087000F7CFE4FFF5CFE4FFF3CFE4FFF4CFE4FFDD
:10088000FACFE4FF00EE45F0140EE80403E3EECFE8
:10089000E4FFFBD700EE00F0450EE80403E3EECFE3
-:1008A000E4FFFBD794EC0FF09EA013D09EEC0FF06A
+:1008A000E4FFFBD760EC13F09EA013D06AEC13F0CA
:1008B00001014D2B000E4E23E80E4D5D030E4E59E7
-:1008C00005E34D6B4E6B4F2B000E5023FDEC27F0D4
-:1008D0009E90A7EC0FF002E2E16AE552E16EE5526C
+:1008C00005E34D6B4E6B4F2B000E5023D6EC2BF0F7
+:1008D0009E9073EC13F002E2E16AE552E16EE5529C
:1008E000E7CFD9FFE55200EE44F0450EE80403E3FC
:1008F000E5CFEDFFFBD700EE58F0140EE80403E35C
:10090000E5CFEDFFFBD7E5CFFAFFE5CFF4FFE5CF6D
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:10092000EAFFE5CFE9FFE5CFDAFF1100D8CFE4FF1A
:10093000E0CFE4FFE46EDACFE4FFE2CFDAFFF3CFFB
-:10094000E4FFF4CFE4FF94EC0FF0A7EC0FF002E229
+:10094000E4FFF4CFE4FF60EC13F073EC13F002E289
:10095000E16AE552E16EE552E7CFD9FFE552E5CF16
:10096000F4FFE5CFF3FFE5CFDAFFE550E5CFE0FF99
-:10097000E5CFD8FF100004D8E0EC1AF060D8FCD71F
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-:100990006BEC0FF00101676F070E675D10E1E66A0F
-:1009A0006DEC2EF0E552DF6E000EDF80AFEC0FF045
-:1009B000E66A26EC2FF0E552DF70AFEC0FF0D08E38
+:10097000E5CFD8FF100004D8B9EC1EF060D8FCD742
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:1009C000F28EF28CF30E8C1695160101476B486B74
:1009D000496B4A6B010E4B6FF90E921680160E0E84
-:1009E000E66E7C0EE66EE10EE66EE0EC2DF0E55272
+:1009E000E66E7C0EE66EE10EE66EB9EC31F0E55295
:1009F000E552E552CF0E9216939894943F0E9516B9
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