Zachary Sunberg
/
SAILORSbot_student
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Fork of
SAILORSbot
by 
Zachary Sunberg
Diff: main.cpp
- Revision:
- 37:c31268270bb2
- Parent:
- 35:09f92a88c0a7
- Child:
- 38:09a854bc9290
--- a/main.cpp Tue Jul 12 04:01:41 2016 +0000
+++ b/main.cpp Wed Jul 13 19:48:12 2016 +0000
@@ -20,9 +20,11 @@
// line_position, speed and other
// variables in this scope.
////////////////////////////////////
-
+ double derivative = line_position - previous_position;
+ double delta = k_p * line_position + k_d * derivative + k_i * integral;
-
+ leftspeed = speed + delta;
+ rightspeed = speed - delta;
// set motor speeds here
// leftspeed = ???;
// rightspeed = ???;
@@ -42,7 +44,7 @@
rightspeed = MIN;
}
- // Code to check if we need to stop
+ // Code to check if we need to stop (uncomment this if you want)
if(sensors[0] < 1000 && sensors[1] < 1000 && sensors[2] < 1000 && sensors[3] < 1000 && sensors[4] < 1000){
//dead end
leftspeed = 0.0;
@@ -225,6 +227,4 @@
}
}
-
- return 0;
}