Joachim Schaeffer
/
LineFollower2
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Dependencies: Roboter m3pi_js mbed
Fork of
m3pi_LineFollower
by 
Chris Styles
Revision 8:2cca24684c6d, committed 2017-01-11
- Comitter:
- JoachimSch
- Date:
- Wed Jan 11 10:13:36 2017 +0000
- Parent:
- 7:218e861ea777
- Commit message:
- a
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Roboter.lib Wed Jan 11 10:13:36 2017 +0000 @@ -0,0 +1,1 @@ +https://developer.mbed.org/users/JoachimSch/code/Roboter/#36bcf4659c1c
--- a/m3pi.lib Thu May 12 11:34:15 2011 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,1 +0,0 @@ -http://mbed.org/users/chris/code/m3pi/#9b128cebb3c2
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/m3pi_ng.lib Wed Jan 11 10:13:36 2017 +0000 @@ -0,0 +1,1 @@ +https://developer.mbed.org/users/JoachimSch/code/m3pi_js/#6268ed95a9d1
--- a/main.cpp Thu May 12 11:34:15 2011 +0000
+++ b/main.cpp Wed Jan 11 10:13:36 2017 +0000
@@ -1,42 +1,69 @@
#include "mbed.h"
-#include "m3pi.h"
+#include "m3pi_ng.h"
+#include "LED.h"
+#include "Umwandeln.h"
m3pi m3pi;
+// Parameters that affect the performance
+ float speed = 0.7;
+ float correction = 0;
+ float threshold = 0.50;
+ float posalt = 0, posneu=0;
+ float k1=0.7, k2=0.8;
+ float im = 0.275;
+ LED B;
+ Ticker goback;
+ Timer t;
+ int sensors[5]={};
+ int a=0;
+
+void pdreg()
+
+ {
+ posneu = m3pi.line_position(); // -1.0 is far left, 1.0 is far right, 0.0 in the middle
+ correction = k1*posneu+k2*(posneu-posalt);
+ if (correction >0)
+ {
+ m3pi.right_motor(speed+(im*correction));
+ m3pi.left_motor (speed-correction);
+ }
+ else
+ {
+ m3pi.right_motor(speed+correction);
+ m3pi.left_motor(speed-(im*correction));
+ }
+
+ posalt = posneu;
+ }
+
+void setup ()
+ {
+ //Displayausgabe
+ m3pi.locate(0,0);
+ m3pi.printf("PARTYROB");
+ m3pi.locate(0,1);
+ m3pi.printf("FLOWFLOW");
+ wait(2.0);
+ m3pi.sensor_auto_calibrate();
+ }
int main() {
- // Parameters that affect the performance
- float speed = 0.2;
- float correction = 0.1;
- float threshold = 0.5;
-
- m3pi.locate(0,1);
- m3pi.printf("Line Flw");
+setup ();
- wait(2.0);
-
- m3pi.sensor_auto_calibrate();
-
- while (1) {
-
- // -1.0 is far left, 1.0 is far right, 0.0 in the middle
- float position_of_line = m3pi.line_position();
+goback.attach(&pdreg,0.05);
- // Line is more than the threshold to the right, slow the left motor
- if (position_of_line > threshold) {
- m3pi.right_motor(speed);
- m3pi.left_motor(speed-correction);
- }
-
- // Line is more than 50% to the left, slow the right motor
- else if (position_of_line < -threshold) {
- m3pi.left_motor(speed);
- m3pi.right_motor(speed-correction);
- }
-
- // Line is in the middle
- else {
- m3pi.forward(speed);
- }
- }
-}
\ No newline at end of file
+ while(1)
+ {
+ m3pi.calibrated_sensor(sensors);
+ if ((sensors[0]>400) && (sensors[4]>400))
+ {
+ goback.detach();
+ B.Blau_Blinken(2,0.1);
+ m3pi.stop();
+ wait(1);
+ }
+ goback.attach(&pdreg,0.005);
+ }
+
+}