[Krobot-commits] [SCM] krobot branch, master, updated. 8987afa29cc0e2829cdc4618b9e59386e0eb48fb

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

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- Log -----------------------------------------------------------------
commit 8987afa29cc0e2829cdc4618b9e59386e0eb48fb
Author: Xavier Lagorce <Xav...@cr...>
Date:   Mon May 6 23:48:57 2013 +0200

    [Controller_Motor_STM32] Added initialization of omega_max (to prevent initial zero value)
    
    and reactivate motor output for pump.

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

Changes:
diff --git a/elec/boards/Controller_Motor_STM32/Firmwares/Propulsion_Drive/controller_motor_stm32/main.c b/elec/boards/Controller_Motor_STM32/Firmwares/Propulsion_Drive/controller_motor_stm32/main.c
index ce2ad8c..8955dc1 100644
--- a/elec/boards/Controller_Motor_STM32/Firmwares/Propulsion_Drive/controller_motor_stm32/main.c
+++ b/elec/boards/Controller_Motor_STM32/Firmwares/Propulsion_Drive/controller_motor_stm32/main.c
@@ -59,6 +59,7 @@ static void init(void)
                  PROP_WHEEL_RADIUS_LEFT, PROP_WHEEL_RADIUS_RIGHT, PROP_SHAFT_WIDTH, // Structural parameters
                  8*2*M_PI, // Absolute wheel speed limitation
                  0.5, // Linear velocity limitation
+                 3.14,// Rotational speed limitation
                  1.0, // Linear acceleration limitation
                  1.0, // Radial acceleration limitation
                  0.4, 0.7, 1.0, // Controller gains
@@ -109,6 +110,8 @@ static void init(void)
           timer_delay(100);
           }
 
+        // Enable motor pump
+        enableMotor(MOTOR2);
 }
 
 static void NORETURN ind_process(void)
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 a9fe843..82a527e 100644
--- a/elec/boards/Controller_Motor_STM32/Firmwares/lib/differential_drive.c
+++ b/elec/boards/Controller_Motor_STM32/Firmwares/lib/differential_drive.c
@@ -167,7 +167,7 @@ static void NORETURN traj_following_process(void) {
 void dd_start(uint8_t odometry_process,
               float left_wheel_radius, float right_wheel_radius,
               float shaft_width, float max_wheel_speed,
-              float v_max, float at_max, float ar_max,
+              float v_max, float omega_max, float at_max, float ar_max,
               float k1, float k2, float k3, float Ts) {
   params.odometry_process = odometry_process;
   params.left_wheel_radius = left_wheel_radius;
@@ -188,6 +188,7 @@ void dd_start(uint8_t odometry_process,
   params.trajs[0].enabled = 0;
   params.trajs[1].enabled = 0;
   params.v_max = v_max;
+  params.omega_max = omega_max;
   params.at_max = at_max;
   params.ar_max = ar_max;
 
diff --git a/elec/boards/Controller_Motor_STM32/Firmwares/lib/differential_drive.h b/elec/boards/Controller_Motor_STM32/Firmwares/lib/differential_drive.h
index 8be953d..5e3dddf 100644
--- a/elec/boards/Controller_Motor_STM32/Firmwares/lib/differential_drive.h
+++ b/elec/boards/Controller_Motor_STM32/Firmwares/lib/differential_drive.h
@@ -49,7 +49,7 @@
 void dd_start(uint8_t odometry_process,
               float left_wheel_radius, float right_wheel_radius,
               float shaft_width, float max_wheel_speed,
-              float v_max, float at_max, float ar_max,
+              float v_max, float omega_max, float at_max, float ar_max,
               float k1, float k2, float k3, float Ts);
 
 /* Pauses or Resumes the differential drive system.


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