ASEE-2014
/
LineFollower
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LineFollower
by 
Christopher Bradford
Revision 10:a9233fa6240d, committed 2014-03-24
- Comitter:
- blu12758
- Date:
- Mon Mar 24 00:44:31 2014 +0000
- Parent:
- 9:039a74519b89
- Child:
- 11:88aa683f1c94
- Commit message:
- sdfh
Changed in this revision
| LineFollower.cpp | Show annotated file Show diff for this revision Revisions of this file |
| LineFollower.h | Show annotated file Show diff for this revision Revisions of this file |
--- a/LineFollower.cpp Mon Mar 10 00:54:55 2014 +0000
+++ b/LineFollower.cpp Mon Mar 24 00:44:31 2014 +0000
@@ -19,7 +19,6 @@
array(ir1, ir2, ir3, ir4, ir5, ir6, ir7, ir8)
{}
-
/** Read the value of a LineFollower object
*
* @return The value of the Sensor
@@ -28,7 +27,7 @@
return array;
}
- float LineFollower::analogFollow(Motor l, Motor r){
+ float LineFollower::analogFollow(Motor l, Motor r, float maxspeed, float sp_adj_mult){
float sum = 0;
int count = 0;
for(int i = 0; i < 8; i++)
@@ -38,22 +37,21 @@
}
if(count == 0) return 0;
float center = sum/count;
-
- float sp_adj_mult = 0.9; //Change this to change how drastic your adjustments are. 0-1
- float speed_adjust = sp_adj_mult*(center-4.5)/(3.5)*MAXSPEED;
- //Also, can change MAXSPEED if the thing is too fast overall. 0-1
+ //Change the sp_adj_mult to change how drastic your adjustments are. 0-1
+ float speed_adjust = sp_adj_mult*(center-4.5)/(3.5)*maxspeed;
+ //Also, can change maxspeed if the thing is too fast overall. 0-1
if(center > 4.5){
- l.speed(MAXSPEED - speed_adjust);
- r.speed(MAXSPEED);
+ l.speed(maxspeed - speed_adjust);
+ r.speed(maxspeed);
}
else if(center < 4.5){
- l.speed(MAXSPEED);
- r.speed(MAXSPEED - abs(speed_adjust));
+ l.speed(maxspeed);
+ r.speed(maxspeed + speed_adjust);
}
else{
- l.speed(MAXSPEED);
- r.speed(MAXSPEED);
+ l.speed(maxspeed);
+ r.speed(maxspeed);
}
return center;
@@ -63,7 +61,8 @@
*
* @param l left drive motor
* @param r right drive motor
- */
+ */
+ /*
int LineFollower::followLine(Motor l, Motor r){
int count = 0;
for(int i = 0; i<8; i++){
@@ -73,68 +72,68 @@
switch(count){
case 1: if(this->read() == 0x7F){
- l.speed(-(0.75 * MAXSPEED));
- r.speed(MAXSPEED);
+ l.speed(-(0.75 * maxspeed));
+ r.speed(maxspeed);
}
else if(this->read() == 0xFE){
- l.speed(MAXSPEED);
- r.speed(-(0.75 * MAXSPEED));
+ l.speed(maxspeed);
+ r.speed(-(0.75 * maxspeed));
}
break;
case 2: if(this->read() == 0xE7){
- l.speed(MAXSPEED);
- r.speed(MAXSPEED);
+ l.speed(maxspeed);
+ r.speed(maxspeed);
}
else if(this->read() == 0x3F){
- l.speed(-(0.5 * MAXSPEED));
- r.speed(MAXSPEED);
+ l.speed(-(0.5 * maxspeed));
+ r.speed(maxspeed);
}
else if(this->read() == 0xFC){
- l.speed(MAXSPEED);
- r.speed(-(0.5 * MAXSPEED));
+ l.speed(maxspeed);
+ r.speed(-(0.5 * maxspeed));
}
else if(this->read() == 0x9F){
l.speed(0);
- r.speed(MAXSPEED);
+ r.speed(maxspeed);
}
else if(this->read() == 0xF9){
- l.speed(MAXSPEED);
+ l.speed(maxspeed);
r.speed(0);
}
else if(this->read() == 0xCF){
- l.speed(0.5*MAXSPEED);
- r.speed(MAXSPEED);
+ l.speed(0.5*maxspeed);
+ r.speed(maxspeed);
}
else if(this->read() == 0xF3){
- l.speed(MAXSPEED);
- r.speed(0.5*MAXSPEED);
+ l.speed(maxspeed);
+ r.speed(0.5*maxspeed);
}
break;
case 3: if(this->read() == 0x1F){
- l.speed(-(0.25*MAXSPEED));
- r.speed(MAXSPEED);
+ l.speed(-(0.25*maxspeed));
+ r.speed(maxspeed);
}
else if(this->read() == 0xF8){
- l.speed(MAXSPEED);
- r.speed(-(0.25*MAXSPEED));
+ l.speed(maxspeed);
+ r.speed(-(0.25*maxspeed));
}
else if(this->read() == 0x8F){
- l.speed(0.25*MAXSPEED);
- r.speed(MAXSPEED);
+ l.speed(0.25*maxspeed);
+ r.speed(maxspeed);
}
else if(this->read() == 0xF1){
- l.speed(MAXSPEED);
- r.speed(0.25*MAXSPEED);
+ l.speed(maxspeed);
+ r.speed(0.25*maxspeed);
}
else if(this->read() == 0xC7){
- l.speed(0.5*MAXSPEED);
- r.speed(MAXSPEED);
+ l.speed(0.5*maxspeed);
+ r.speed(maxspeed);
}
else if(this->read() == 0xE3){
- l.speed(MAXSPEED);
- r.speed(0.5*MAXSPEED);
+ l.speed(maxspeed);
+ r.speed(0.5*maxspeed);
}
break;
default: break;
@@ -144,4 +143,5 @@
return count;
- }
\ No newline at end of file
+ }
+ */
\ No newline at end of file
--- a/LineFollower.h Mon Mar 10 00:54:55 2014 +0000
+++ b/LineFollower.h Mon Mar 24 00:44:31 2014 +0000
@@ -36,16 +36,18 @@
*/
int followLine(Motor l, Motor r);
- float analogFollow(Motor l, Motor r);
+ float analogFollow(Motor l, Motor r, float maxspeed, float sp_adj_mult);
protected:
/* Constants */
#define ROTATE_SPEED 100
- #define MAXSPEED 1
/* Attributes */
BusIn array;
+ float prevLeft;
+ float prevRight;
+
};