File content as of revision 23:bc05a104be10:

float motor_speed[2] = {0,0}; //left, right (real exact current speed of each motor for the next raltime slot)  SI
//float gy_old;
//float vert;//ugol

/*float max_speed = 1;
float max_accel = 5;
float max_eps = 20;*/

DigitalOut  dir_left(PC_15);
DigitalOut  dir_right(PA_4);
DigitalOut  motor_enable(PA_0);//sleep inverted
PwmOut step_left(PB_4);
PwmOut step_right(PA_1);

void geometric_navigation(){  

    current.speed = (motor_speed[1] + motor_speed[0])/2.0; 
    current.omega = (motor_speed[0] - motor_speed[1])/(2 * half_axis);  //rad/s          //MOVE TO SKOROST!!!!!
    current.azimuth += current.omega * t_step ;//rad
    if (current.azimuth > pi) current.azimuth -= 2*pi;
    if (current.azimuth < -pi) current.azimuth += 2*pi;
    current.x += current.speed * t_step * cos(current.azimuth);
    current.y += current.speed * t_step * sin(current.azimuth);
    current.path += current.speed * t_step;
    //pc.printf("%3.1f - %3.1f ; %3.1f - %3.1f ; %d\n",target_path,current_path,target_angle,current_angle,motor_busy); //be careful in interrupt
    }

void set_motor_speed(float speed_left,float speed_right){
    motor_speed[0] = speed_left;
    motor_speed[1] = speed_right;    

    if (motor_speed[0] > max.speed*2) motor_speed[0] = max.speed*2;
    if (motor_speed[0] < -max.speed*2) motor_speed[0] = -max.speed*2;
    if (motor_speed[1] > max.speed*2) motor_speed[1] = max.speed*2;
    if (motor_speed[1] < -max.speed*2) motor_speed[1] = -max.speed*2;

    if (motor_speed[1] > 0) dir_right = 1;
    else dir_right = 0;
    if (motor_speed[0] > 0) dir_left = 0;
    else dir_left = 1;
    float nu_l = abs(motor_speed[0]/(2*pi*r_wheel))*ppr; //frequency in herz
    float nu_r = abs(motor_speed[1]/(2*pi*r_wheel))*ppr; //frequency in herz
    if (nu_l < 1) nu_l = 1;
    if (nu_r < 1) nu_r = 1;
    step_right.period_us (1e6/nu_r);
    step_right = 0.5;
    step_left.period_us (1e6/nu_l);
    step_left = 0.5; 
    geometric_navigation();   
}

void motor_init()
{
    step_left = 0.5;
    step_right = 0.5;
    motor_enable = 1;
}