Change Hbridge so it now receives a [1,-1] speed range, changed contr…

…ollers gains accordingly

Fix robotadasufsc#11

Signed-off-by: Willian Galvani <williangalvani@gmail.com>

Firmware/ControladorRobo/ControladorRobo.ino

@@ -103,7 +103,7 @@ ISR(TIMER1_COMPA_vect)
     float u_dir = controle_dir.update(refDir, rightAngularSpeed);
 
     HBridge* bridge = &HBridge::self();
-    bridge->setWheelPWM(bridge->LEFT,(int)floor(u_esq*51));
-    bridge->setWheelPWM(bridge->RIGHT,(int)floor(u_dir*51));
+    bridge->setWheelPWM(bridge->LEFT,u_esq);
+    bridge->setWheelPWM(bridge->RIGHT,u_dir);
 
 }

Firmware/ControladorRobo/control.h

@@ -2,17 +2,17 @@
 
 #include <Arduino.h>
 
-#define kc_dir 5.0
+#define kc_dir 1.0
 #define ti_dir 0.2
 #define td_dir 0
 
-#define kc_esq 5.0
+#define kc_esq 1.0
 #define ti_esq 0.2
 #define td_esq 0
 
 #define Ts 0.02
-#define umin -5.0
-#define umax 5.0
+#define umin -1.0
+#define umax 1.0
 
 //Modelo Esquerdo
 //float kpesq = (4.86*(500/255)), t1esq = (1.06/3), tetaesq = .02;

Firmware/ControladorRobo/hbridge.cpp

@@ -1,5 +1,5 @@
 #include "hbridge.h"
-
+#define sat(x, a, b) ( max( min (x, a), b ))
 
 HBridge::HBridge()
 {
@@ -25,8 +25,10 @@ HBridge& HBridge::self()
     return self;
 }
 
-void HBridge::setWheelPWM(uint8_t wheel, int16_t speed)
+void HBridge::setWheelPWM(uint8_t wheel, float speed)
 {
+    speed = sat(speed,1,-1);
+    uint8_t PWM = (int) abs(speed)*255;
     uint8_t pin_f; //forward pin
     uint8_t pin_b; //backward pin
     uint8_t pin_s; //signal pin
@@ -54,7 +56,7 @@ void HBridge::setWheelPWM(uint8_t wheel, int16_t speed)
         digitalWrite(pin_f,LOW);
         digitalWrite(pin_b,HIGH);
     }
-    analogWrite(pin_s, abs(speed));
+    analogWrite(pin_s, PWM);
 }
 
 void HBridge::forward(int16_t vel)

Firmware/ControladorRobo/hbridge.h

@@ -17,6 +17,6 @@ class HBridge
     enum {LEFT, RIGHT};
 
 
-    void setWheelPWM(uint8_t wheel, int16_t speed);
+    void setWheelPWM(uint8_t wheel, float speed);
     void forward(int16_t vel);
 };