Maxwell Sinclair
/
m3pi_LineFollower_dpn
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Revision 0:e60be1842101, committed 2010-11-30
- Comitter:
- Armless
- Date:
- Tue Nov 30 15:17:45 2010 +0000
- Commit message:
Changed in this revision
diff -r 000000000000 -r e60be1842101 m3pi.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/m3pi.lib Tue Nov 30 15:17:45 2010 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/chris/code/m3pi/#62ee1486ecb9
diff -r 000000000000 -r e60be1842101 main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Tue Nov 30 15:17:45 2010 +0000
@@ -0,0 +1,91 @@
+#include "mbed.h"
+#include "m3pi.h"
+
+BusOut leds(LED1,LED2,LED3,LED4);
+m3pi m3pi(p23,p9,p10);
+
+#define MAX 1.0
+#define MIN 0.2
+
+
+#define P_TERM 0.8
+#define I_TERM 0
+#define D_TERM 20
+
+int main() {
+
+ m3pi.locate(0,1);
+ for (int countdown=3; countdown >=1; countdown--) {
+ m3pi.printf("%d", countdown);
+ wait(1);
+ m3pi.cls();
+
+ }
+ m3pi.cls();
+ wait(0.001);
+ m3pi.printf("GO!");
+ wait(1);
+ m3pi.cls();
+ m3pi.printf("VB: %f", m3pi.battery());
+
+
+ float right;
+ float left;
+ float position_of_line = 0.0;
+ float act_position_of_line = 0.0;
+ float prev_pos_of_line = 0.0;
+ float derivative,proportional;
+ float integral = 0;
+ float power;
+ m3pi.sensor_auto_calibrate();
+ float speed = MAX;
+
+ while (1) {
+ for (int i=0; i<1000; i++) {
+
+ // Get the position of the line.
+ act_position_of_line = m3pi.line_position();
+ position_of_line = act_position_of_line - 0.40;
+
+ proportional = position_of_line;
+ // Compute the derivative
+ derivative = position_of_line - prev_pos_of_line;
+ // Compute the integral
+ integral += proportional;
+ // Remember the last position.
+ prev_pos_of_line = position_of_line;
+ // Compute
+ power = (proportional * (P_TERM) ) + (integral*(I_TERM)) + (derivative*(D_TERM)) ;
+
+ // Compute new speeds
+ right = speed+power;
+ left = speed-power;
+
+ // limit checks
+ if (right < MIN)
+ right = MIN;
+ else if (right > MAX)
+ right = MAX;
+
+ if (left < MIN)
+ left = MIN;
+ else if (left > MAX)
+ left = MAX;
+
+ if ((position_of_line < 0.20) && (position_of_line > -0.20)) {
+ m3pi.left_motor(MAX);
+ m3pi.right_motor(MAX);
+
+ }
+
+ // set speed
+ m3pi.left_motor(left);
+ m3pi.right_motor(right);
+
+ //m3pi.cls();
+ //m3pi.printf("VB: %f", m3pi.battery());
+ }
+
+
+ }
+}
\ No newline at end of file
diff -r 000000000000 -r e60be1842101 mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Tue Nov 30 15:17:45 2010 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/e2ac27c8e93e