darron nielsen
/
m3pi_LineFollower_dpn
main.cpp@1:e046cce6ceb8, 2010-11-11 (annotated)
- Committer:
- microsat
- Date:
- Thu Nov 11 14:56:38 2010 +0000
- Revision:
- 1:e046cce6ceb8
- Parent:
- 0:301acbabd57a
added comments to my code
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
microsat | 0:301acbabd57a | 1 | #include "mbed.h" |
microsat | 0:301acbabd57a | 2 | #include "m3pi.h" |
microsat | 0:301acbabd57a | 3 | |
microsat | 0:301acbabd57a | 4 | BusOut leds(LED1,LED2,LED3,LED4); |
microsat | 0:301acbabd57a | 5 | m3pi m3pi(p23,p9,p10); |
microsat | 0:301acbabd57a | 6 | |
microsat | 0:301acbabd57a | 7 | #define MAX 1.0 |
microsat | 0:301acbabd57a | 8 | #define MIN 0 |
microsat | 1:e046cce6ceb8 | 9 | |
microsat | 1:e046cce6ceb8 | 10 | |
microsat | 0:301acbabd57a | 11 | #define P_TERM 1 |
microsat | 0:301acbabd57a | 12 | #define I_TERM 0 |
microsat | 0:301acbabd57a | 13 | #define D_TERM 20 |
microsat | 0:301acbabd57a | 14 | |
microsat | 0:301acbabd57a | 15 | int main() { |
microsat | 0:301acbabd57a | 16 | |
microsat | 0:301acbabd57a | 17 | m3pi.locate(0,1); |
microsat | 0:301acbabd57a | 18 | m3pi.printf("Line Flw"); |
microsat | 0:301acbabd57a | 19 | |
microsat | 0:301acbabd57a | 20 | wait(2.0); |
microsat | 0:301acbabd57a | 21 | |
microsat | 0:301acbabd57a | 22 | float right; |
microsat | 1:e046cce6ceb8 | 23 | float left; |
microsat | 1:e046cce6ceb8 | 24 | float position_of_line = 0.0; |
microsat | 0:301acbabd57a | 25 | float prev_pos_of_line = 0.0; |
microsat | 1:e046cce6ceb8 | 26 | float derivative,proportional; |
microsat | 1:e046cce6ceb8 | 27 | float integral = 0; |
microsat | 1:e046cce6ceb8 | 28 | float power; |
microsat | 0:301acbabd57a | 29 | m3pi.sensor_auto_calibrate(); |
microsat | 0:301acbabd57a | 30 | float speed = MAX; |
microsat | 1:e046cce6ceb8 | 31 | |
microsat | 0:301acbabd57a | 32 | while (1) { |
microsat | 0:301acbabd57a | 33 | |
microsat | 0:301acbabd57a | 34 | // Get the position of the line. |
microsat | 0:301acbabd57a | 35 | position_of_line = m3pi.line_position(); |
microsat | 1:e046cce6ceb8 | 36 | proportional = position_of_line; |
microsat | 1:e046cce6ceb8 | 37 | // Compute the derivative |
microsat | 0:301acbabd57a | 38 | derivative = position_of_line - prev_pos_of_line; |
microsat | 1:e046cce6ceb8 | 39 | // Compute the integral |
microsat | 1:e046cce6ceb8 | 40 | integral += proportional; |
microsat | 1:e046cce6ceb8 | 41 | // Remember the last position. |
microsat | 1:e046cce6ceb8 | 42 | prev_pos_of_line = position_of_line; |
microsat | 1:e046cce6ceb8 | 43 | // Compute |
microsat | 0:301acbabd57a | 44 | power = (proportional * (P_TERM) ) + (integral*(I_TERM)) + (derivative*(D_TERM)) ; |
microsat | 1:e046cce6ceb8 | 45 | |
microsat | 1:e046cce6ceb8 | 46 | // Compute new speeds |
microsat | 0:301acbabd57a | 47 | right = speed+power; |
microsat | 0:301acbabd57a | 48 | left = speed-power; |
microsat | 1:e046cce6ceb8 | 49 | // limit checks |
microsat | 0:301acbabd57a | 50 | if (right < MIN) |
microsat | 0:301acbabd57a | 51 | right = MIN; |
microsat | 0:301acbabd57a | 52 | else if (right > MAX) |
microsat | 0:301acbabd57a | 53 | right = MAX; |
microsat | 0:301acbabd57a | 54 | |
microsat | 0:301acbabd57a | 55 | if (left < MIN) |
microsat | 0:301acbabd57a | 56 | left = MIN; |
microsat | 0:301acbabd57a | 57 | else if (left > MAX) |
microsat | 0:301acbabd57a | 58 | left = MAX; |
microsat | 0:301acbabd57a | 59 | |
microsat | 0:301acbabd57a | 60 | // set speed |
microsat | 0:301acbabd57a | 61 | m3pi.left_motor(left); |
microsat | 0:301acbabd57a | 62 | m3pi.right_motor(right); |
microsat | 0:301acbabd57a | 63 | |
microsat | 0:301acbabd57a | 64 | |
microsat | 0:301acbabd57a | 65 | } |
microsat | 0:301acbabd57a | 66 | } |