Thread: robot code

im trying to write code for a robot to accellerate and decelerate. currently testing it with leds on an atmel xmega a1 board. everything seems to be in order except for the deceleration. one side doesnt go through the deceleration process for some reason even though the code is exactly the same just switched out the pins.

insert

Code:

/**
 * \file
 *
 * \brief Empty user application template
 *
 */


/*
 * Include header files for all drivers that have been imported from
 * Atmel Software Framework (ASF).
 */
#include <asf.h>


struct _Device{
	int direction;
	//0 is forward
	//1 is backward
	volatile int pulseAmount;
	//points to position
	int pulseTotal;
	int pulseWidth;
	//The amount of time the pin is set on
	int rateChange;
	//The amount of pulses it takes to reach max speed
	int period;
	//The amount of time between pulses
	double acceleration;
	double changeAcceleration;
	double maxTimer;
	double minTimer;
};


void findChangeAcceleration(struct _Device *useDevice);
//finds the change in acceleration required for device to accurately reach maxSpeed from minSpeed


int main (void)
{
	board_init();
	// Insert application code here, after the board has been initialized.
	struct _Device leftWheel;										struct _Device rightWheel;
	leftWheel.pulseTotal = 500;										rightWheel.pulseTotal = 500;
	leftWheel.direction = 0;										rightWheel.direction = 0;
	leftWheel.pulseWidth = 0x05;									rightWheel.pulseWidth = 0x05;
	leftWheel.rateChange = 100;										rightWheel.rateChange = 100;
	leftWheel.acceleration = 0;										rightWheel.acceleration = 0;
	leftWheel.minTimer = 0x50;										rightWheel.minTimer = 0x50;
	leftWheel.maxTimer = 0x70;										rightWheel.maxTimer = 0x70;
	leftWheel.pulseAmount = 0;										rightWheel.pulseAmount = 0;
	leftWheel.period = leftWheel.maxTimer + leftWheel.pulseWidth;	rightWheel.period = rightWheel.maxTimer + rightWheel.pulseWidth;
	findChangeAcceleration(&leftWheel);								findChangeAcceleration(&rightWheel);
	
	//Sets Pins to Output
	PORTE.DIRSET = 0xff;
	
	//Prepares Timer 0
	TCE0.CTRLB = TC_WGMODE_DS_B_gc;
	TCE0.CTRLB |= TC0_CCAEN_bm;
    //Prepares Timer 1
	TCE1.CTRLB = TC_WGMODE_DS_B_gc;
	TCE1.CTRLB |= TC1_CCAEN_bm;
	
	//Sets Timer 0 channels A, B
    TCE0.CCABUF = leftWheel.maxTimer;
	//Sets Timer 1 Channel A, B
	TCE1.CCABUF = rightWheel.maxTimer;
	
	//Set the timer 0
	TCE0.PER = leftWheel.period;
    TCE0.CTRLA = ( (TCE0.CTRLA & ~TC0_CLKSEL_gm ) | TC_CLKSEL_DIV1024_gc);
	//Set the timer 1
	TCE1.PER = rightWheel.period;
	TCE1.CTRLA = ( (TCE1.CTRLA & ~TC0_CLKSEL_gm ) | TC_CLKSEL_DIV1024_gc);


	//Begins the loop
	while(1)
	{
		//Begin the acceleration process
		while(leftWheel.pulseAmount < leftWheel.rateChange)
		{
			if(TCE0.INTFLAGS & TC0_OVFIF_bm)
			{
				TCE0.INTFLAGS = TC0_OVFIF_bm;
				leftWheel.pulseAmount++;
				if(leftWheel.pulseAmount < (leftWheel.rateChange / 2))
					leftWheel.acceleration += leftWheel.changeAcceleration;
				else
					leftWheel.acceleration -= leftWheel.changeAcceleration;
				leftWheel.period -= leftWheel.acceleration;
				TCE0.PER = leftWheel.period;
				TCE0.CCABUF = leftWheel.period - leftWheel.pulseWidth;
				TCE0.CCBBUF = leftWheel.period - leftWheel.pulseWidth;
			}
			if(TCE1.INTFLAGS & TC1_OVFIF_bm)
			{
				TCE1.INTFLAGS = TC1_OVFIF_bm;
				rightWheel.pulseAmount++;
				if(rightWheel.pulseAmount < (rightWheel.rateChange / 2))
					rightWheel.acceleration += rightWheel.changeAcceleration;
				else
					rightWheel.acceleration -= rightWheel.changeAcceleration;
				rightWheel.period -= rightWheel.acceleration;
				TCE1.PER = rightWheel.period;
				TCE1.CCABUF = rightWheel.period - rightWheel.pulseWidth;
				TCE1.CCBBUF = rightWheel.period - rightWheel.pulseWidth;
			}
		}
		//Device at Constant Speed
		while((leftWheel.pulseAmount >= leftWheel.rateChange) && (leftWheel.pulseAmount < (leftWheel.pulseTotal - leftWheel.rateChange)))
		{
			if(TCE0.INTFLAGS & TC0_OVFIF_bm)
			{
				TCE0.INTFLAGS = TC0_OVFIF_bm;
				leftWheel.pulseAmount++;
			}
			if(TCE0.INTFLAGS & TC0_OVFIF_bm)
			{
				TCE1.INTFLAGS = TC1_OVFIF_bm;
				rightWheel.pulseAmount++;
			}			
		}
		//Begins the deceleration process
		while((leftWheel.pulseAmount >= (leftWheel.pulseTotal - leftWheel.rateChange)))
		{
			if(TCE0.INTFLAGS & TC0_OVFIF_bm)
			{
				TCE0.INTFLAGS = TC0_OVFIF_bm;
				leftWheel.pulseAmount++;
				if(leftWheel.pulseAmount < (leftWheel.pulseTotal - (leftWheel.rateChange / 2)))
					leftWheel.acceleration += leftWheel.changeAcceleration;
				else
					leftWheel.acceleration -= leftWheel.changeAcceleration;
				leftWheel.period += leftWheel.acceleration;
				TCE0.PER = leftWheel.period;
				TCE0.CCABUF = leftWheel.period - leftWheel.pulseWidth;
				TCE0.CCBBUF = leftWheel.period - leftWheel.pulseWidth;
			}
			if(TCE1.INTFLAGS & TC1_OVFIF_bm)
			{
				TCE1.INTFLAGS = TC1_OVFIF_bm;
				rightWheel.pulseAmount++;
				if(rightWheel.pulseAmount < (rightWheel.pulseTotal - (rightWheel.rateChange / 2)))
					rightWheel.acceleration += rightWheel.changeAcceleration;
				else
					rightWheel.acceleration -= rightWheel.changeAcceleration;
				rightWheel.period += rightWheel.acceleration;
				TCE1.PER = rightWheel.period;
				TCE1.CCABUF = rightWheel.period - rightWheel.pulseWidth;
				TCE1.CCBBUF = rightWheel.period - rightWheel.pulseWidth;
			}
		}
		TCE0.CTRLA = 0x00;
		TCE1.CTRLA = 0x00;
	}
}


void findChangeAcceleration(struct _Device *useDevice)
{
	double aveAcceleration;
	aveAcceleration = (useDevice->maxTimer - useDevice->minTimer) / useDevice->rateChange;
	useDevice->changeAcceleration = 2 * aveAcceleration / useDevice->rateChange;
}