Georg Lerm
/
LPC1768_m3pi_LineFollower_PID
s
Diff: main.cpp
- Revision:
- 1:f1d9f7ef9c15
- Parent:
- 0:78f9794620a3
--- a/main.cpp Thu May 12 11:48:56 2011 +0000 +++ b/main.cpp Mon Sep 14 10:35:40 2020 +0000 @@ -4,23 +4,47 @@ m3pi m3pi; // Minimum and maximum motor speeds -#define MAX 1.0 -#define MIN 0 +#define MAX 0.40 +#define MIN 0.00 // PID terms #define P_TERM 1 #define I_TERM 0 #define D_TERM 20 +/* +char fugue[] = + "! O5 L16 agafaea dac+adaea fa<aa<bac#a dac#adaea f" + "O6 dcd<b-d<ad<g d<f+d<gd<ad<b- d<dd<ed<f+d<g d<f+d<gd<ad" + "L8 MS <b-d<b-d MLe-<ge-<g MSc<ac<a ML d<fd<f O5 MS b-gb-g" + "ML >c#e>c#e MS afaf ML gc#gc# MS fdfd ML e<b-e<b-" + "O6 L16ragafaea dac#adaea fa<aa<bac#a dac#adaea faeadaca" + "<b-acadg<b-g egdgcg<b-g <ag<b-gcf<af dfcf<b-f<af" + "<gf<af<b-e<ge c#e<b-e<ae<ge <fe<ge<ad<fd" + "O5 e>ee>ef>df>d b->c#b->c#a>df>d e>ee>ef>df>d" + "e>d>c#>db>d>c#b >c#agaegfe f O6 dc#dfdc#<b c#4"; +*/ + + int main() { - + m3pi.leds(0x00); m3pi.locate(0,1); m3pi.printf("Line PID"); wait(2.0); + m3pi.cls(); + m3pi.locate(0,0); + m3pi.printf("Battery="); + m3pi.locate(0,1); + m3pi.printf("%.3f V",m3pi.battery()); + wait(2.0); m3pi.sensor_auto_calibrate(); + + // m3pi.play(fugue,sizeof(fugue)); + + //wait(20); float right; float left; float current_pos_of_line = 0.0;