Diff: basic2.h

Revision:

1:36bcf4659c1c

Parent:

0:d453d7554981

--- a/basic2.h	Wed Jan 11 09:43:00 2017 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,70 +0,0 @@
-#include "mbed.h"
-#include "m3pi_ng.h"
- 
-m3pi m3pi;
- 
-// Minimum and maximum motor speeds
-#define MAX 1.0
-#define MIN 0
- 
-// PID terms
-#define P_TERM 1
-#define I_TERM 0
-#define D_TERM 20
- 
-int main() {
- 
-    m3pi.locate(0,1);
-    m3pi.printf("Line PID");
- 
-    wait(2.0);
- 
-    m3pi.sensor_auto_calibrate();
- 
-    float right;
-    float left;
-    float current_pos_of_line = 0.0;
-    float previous_pos_of_line = 0.0;
-    float derivative,proportional,integral = 0;
-    float power;
-    float speed = MAX;
-    
-    while (1) {
- 
-        // Get the position of the line.
-        current_pos_of_line = m3pi.line_position();        
-        proportional = current_pos_of_line;
-        
-        // Compute the derivative
-        derivative = current_pos_of_line - previous_pos_of_line;
-        
-        // Compute the integral
-        integral += proportional;
-        
-        // Remember the last position.
-        previous_pos_of_line = current_pos_of_line;
-        
-        // Compute the power
-        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;
-            
-       // set speed 
-        m3pi.left_motor(left);
-        m3pi.right_motor(right);
- 
-    }
-}
\ No newline at end of file