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[Krobot-commits] [SCM] krobot branch, master, updated. 09b96167adb43821ec7c1a4023be8cb1686a1a27
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From: Olivier B. <Ba...@us...> - 2010-02-24 20:55:48
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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 09b96167adb43821ec7c1a4023be8cb1686a1a27 (commit)
from b816f48eab76c6b03cde9297fdf561dd83168995 (commit)
Those revisions listed above that are new to this repository have
not appeared on any other notification email; so we list those
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- Log -----------------------------------------------------------------
commit 09b96167adb43821ec7c1a4023be8cb1686a1a27
Author: Olivier BICHLER <oli...@gm...>
Date: Wed Feb 24 21:55:25 2010 +0100
Try to fix direction consistency (3)
-----------------------------------------------------------------------
Changes:
diff --git a/USB_Module/Motor_Controller/Firmware/Motor_Controller.mcw b/USB_Module/Motor_Controller/Firmware/Motor_Controller.mcw
index 0a1d694..48ba798 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 45e059d..a79b116 100644
--- a/USB_Module/Motor_Controller/Firmware/lm629.c
+++ b/USB_Module/Motor_Controller/Firmware/lm629.c
@@ -599,11 +599,11 @@ void moveForward(short pos, short vel, short acc) {
resetInterrupt(MOTOR_BOTH);
newPosition(MOTOR_RIGHT,
- - CON_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,
- - CON_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));
@@ -621,11 +621,11 @@ void moveBackward(short pos, short vel, short acc) {
resetInterrupt(MOTOR_BOTH);
newPosition(MOTOR_RIGHT,
- CON_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,
- CON_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));
@@ -643,11 +643,11 @@ void turnRight(short angle, short vel, short acc) {
resetInterrupt(MOTOR_BOTH);
newPosition(MOTOR_RIGHT,
- CON_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,
- - CON_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));
@@ -665,11 +665,11 @@ void turnLeft(short angle, short vel, short acc) {
resetInterrupt(MOTOR_BOTH);
newPosition(MOTOR_RIGHT,
- - CON_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,
- CON_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));
@@ -745,7 +745,7 @@ void goTo(short x, short y, short vel, short acc, BYTE mode, short d) {
if (mode == GOTO_CURVE_LEFT) {
// angle2 = angle2 if we pass left
- turnRight(90.0-angle2*180.0/PI, vel, acc);
+ turnLeft(90.0-angle2*180.0/PI, vel, acc);
posRight = (r - (float) WHEELS_DIST/2.0)*angle3;
posLeft = (r + (float) WHEELS_DIST/2.0)*angle3;
@@ -756,7 +756,7 @@ void goTo(short x, short y, short vel, short acc, BYTE mode, short d) {
// If we pass right, we need to adjust the calculated angle
angle2 = 2.0*angle1 - angle2;
- turnRight(90.0-angle2*180.0/PI, vel, acc);
+ turnLeft(90.0-angle2*180.0/PI, vel, acc);
posRight = (r + (float) WHEELS_DIST/2.0)*angle3;
posLeft = (r - (float) WHEELS_DIST/2.0)*angle3;
@@ -767,11 +767,11 @@ void goTo(short x, short y, short vel, short acc, BYTE mode, short d) {
waitTrajComplete();
newPosition(MOTOR_RIGHT,
- (long) ((float) posRight * COEF_RIGHT_WHEEL),
+ CON_MOTOR_RIGHT * (long) ((float) posRight * COEF_RIGHT_WHEEL),
(long) ((float) velRight * COEF_RIGHT_WHEEL * CONST_VEL),
(long) ((float) acc * COEF_RIGHT_WHEEL * CONST_ACC));
newPosition(MOTOR_LEFT,
- - (long) ((float) posLeft * COEF_LEFT_WHEEL),
+ CON_MOTOR_LEFT * (long) ((float) posLeft * COEF_LEFT_WHEEL),
(long) ((float) velLeft * COEF_LEFT_WHEEL * CONST_VEL),
(long) ((float) acc * COEF_LEFT_WHEEL * CONST_ACC));
diff --git a/USB_Module/Motor_Controller/Firmware/main.c b/USB_Module/Motor_Controller/Firmware/main.c
index fd808eb..332fb2e 100644
--- a/USB_Module/Motor_Controller/Firmware/main.c
+++ b/USB_Module/Motor_Controller/Firmware/main.c
@@ -1053,8 +1053,6 @@ void ProcessIO(void) {
(long) ((float) word3.Val * COEF_WHEEL * CONST_ACC));
}
}
-
- traj_engaged = 1;
break;
case TRAJ_NEW_VELOCITY:
@@ -1084,8 +1082,6 @@ void ProcessIO(void) {
CON_MOTOR_RIGHT * ReceivedDataBuffer.DATA[6]);
}
}
-
- traj_engaged = 1;
break;
case TRAJ_CHANGE_VELOCITY:
@@ -1110,8 +1106,6 @@ void ProcessIO(void) {
CON_MOTOR_RIGHT * ReceivedDataBuffer.DATA[4]);
}
}
-
- traj_engaged = 1;
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 49d411b..ca5c9f5 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 8dfdec7..4d285e1 100644
--- a/USB_Module/Motor_Controller/Firmware/output/Motor_controller.hex
+++ b/USB_Module/Motor_Controller/Firmware/output/Motor_controller.hex
@@ -1,144 +1,144 @@
:020000040000FA
-:06000000F9EF33F01200DD
+:06000000F7EF33F01200DF
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-:06082A00040085680000D7
-:1008300026010000210000007D6800005F0100002B
-:10084000080000006F680000470100000E00000073
-:0C0850006C6800006A010000030000005A
+:06082A00040081680000DB
+:100830002601000021000000796800005F0100002F
+:10084000080000006B680000470100000E00000077
+:0C085000686800006A010000030000005E
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-:1008A000E4FFFBD7D4EC13F09EA013D0DEEC13F0E2
+:1008A000E4FFFBD7CBEC13F09EA013D0D5EC13F0F4
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-:1008C00005E34D6B4E6B4F2B000E5023A3EC2CF029
-:1008D0009E90E7EC13F002E2E16AE552E16EE55228
+:1008C00005E34D6B4E6B4F2B000E5023A1EC2CF02B
+:1008D0009E90DEEC13F002E2E16AE552E16EE55231
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