Chris Styles
/
m3pi_LineFollower_PID
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Revision 0:78f9794620a3, committed 2011-05-12
- Comitter:
- chris
- Date:
- Thu May 12 11:48:56 2011 +0000
- Commit message:
Changed in this revision
diff -r 000000000000 -r 78f9794620a3 m3pi.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/m3pi.lib Thu May 12 11:48:56 2011 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/chris/code/m3pi/#9b128cebb3c2
diff -r 000000000000 -r 78f9794620a3 main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Thu May 12 11:48:56 2011 +0000
@@ -0,0 +1,70 @@
+#include "mbed.h"
+#include "m3pi.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
diff -r 000000000000 -r 78f9794620a3 mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Thu May 12 11:48:56 2011 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/e2ac27c8e93e