TUB-MRT / Mbed 2 deprecated m3pi_LineFollower_PID

An example PID line following program

Dependencies:   m3pi mbed

Fork of m3pi_LineFollower_PID by Chris Styles

Files at this revision

API Documentation at this revision

Revision 1:c0b4f4f6952e, committed 2016-06-15

Comitter:
dpfeiffer
Date:
Wed Jun 15 15:18:23 2016 +0000
Parent:
0:78f9794620a3
Commit message:
functional PID controller

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file 
diff -r 78f9794620a3 -r c0b4f4f6952e main.cpp
--- a/main.cpp	Thu May 12 11:48:56 2011 +0000
+++ b/main.cpp	Wed Jun 15 15:18:23 2016 +0000
@@ -3,8 +3,10 @@
 
 m3pi m3pi;
 
+DigitalIn m3pi_IN[] = {(p12)};
+
 // Minimum and maximum motor speeds
-#define MAX 1.0
+#define MAX 0.8
 #define MIN 0
 
 // PID terms
@@ -27,9 +29,13 @@
     float previous_pos_of_line = 0.0;
     float derivative,proportional,integral = 0;
     float power;
-    float speed = MAX;
+    float speed = 0.6;
     
+    m3pi_IN[0].mode(PullUp);
     while (1) {
+        while (m3pi_IN[0]==0){
+        m3pi.stop();
+          }
 
         // Get the position of the line.
         current_pos_of_line = m3pi.line_position();