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Diff: main.cpp
- Revision:
- 1:e046cce6ceb8
- Parent:
- 0:301acbabd57a
--- a/main.cpp Thu Nov 11 05:45:44 2010 +0000 +++ b/main.cpp Thu Nov 11 14:56:38 2010 +0000 @@ -6,6 +6,8 @@ #define MAX 1.0 #define MIN 0 + + #define P_TERM 1 #define I_TERM 0 #define D_TERM 20 @@ -18,31 +20,33 @@ wait(2.0); float right; - float left; - float position_of_line = 0.0; + float left; + float position_of_line = 0.0; float prev_pos_of_line = 0.0; - float derivative,proportional; - float integral = 0; - float power; + float derivative,proportional; + float integral = 0; + float power; m3pi.sensor_auto_calibrate(); float speed = MAX; - + while (1) { // Get the position of the line. position_of_line = m3pi.line_position(); - proportional = position_of_line; - // Compute the derivative + proportional = position_of_line; + // Compute the derivative derivative = position_of_line - prev_pos_of_line; - // Compute the integral - integral += proportional; - + // 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)) ; - // Remember the last position. - prev_pos_of_line = position_of_line; + + // Compute new speeds right = speed+power; left = speed-power; - + // limit checks if (right < MIN) right = MIN; else if (right > MAX)