add minspeed to take curves easier

pid-example/pid-example.ino

@@ -20,6 +20,10 @@ const uint8_t maxspeedb = 150;
 const uint8_t basespeeda = 100;
 const uint8_t basespeedb = 100;
 
+// adding minspeed so it can reverse
+const int minspeeda = -150;
+const int minspeedb = -150;
+
 //Set up the drive motor carrier pins
 int mode = 8;
 int aphase = 5;
@@ -110,11 +114,11 @@ void PID_control() {
   if (motorspeedb > maxspeedb) {
     motorspeedb = maxspeedb;
   }
-  if (motorspeeda < 0) {
+  if (motorspeeda < minspeeda) {
-    motorspeeda = 0;
+    motorspeeda = minspeeda;
   }
-  if (motorspeedb < 0) {
+  if (motorspeedb < minspeedb) {
-    motorspeedb = 0;
+    motorspeedb = minspeedb;
   } 
   //Serial.print(motorspeeda);Serial.print(" ");Serial.println(motorspeedb);
   forward_brake(motorspeeda, motorspeedb);

rally-test.ino

@@ -1,136 +0,0 @@
-//Make sure to install the library
-#include <QTRSensors.h>
-QTRSensors qtr;
-const uint8_t SensorCount = 8;
-uint16_t sensorValues[SensorCount];
-
-float Kp = 0.09;//set up the constants value
-float Ki = 0.0008;
-float Kd = 0.34;
-int P;
-int I;
-int D;
-
-int lastError = 0;
-boolean onoff = false;
-
-//Increasing the maxspeed can damage the motors - at a value of 255 the 6V motors will receive 7,4 V 
-const uint8_t maxspeeda = 150;
-const uint8_t maxspeedb = 150;
-const uint8_t basespeeda = 100;
-const uint8_t basespeedb = 100;
-
-//Set up the drive motor carrier pins
-int mode = 8;
-int aphase = 5;
-int aenbl = 3;
-int bphase = 9;
-int benbl = 6;
-
-//Set up the buttons pins
-int buttoncalibrate = 17; //pin A3
-int buttonstart = 2;
-
-void setup() {
-  Serial.begin(9600);
-  qtr.setTypeRC();
-  //Set up the sensor array pins
-  qtr.setSensorPins((const uint8_t[]){10, 11, 12, 14, 15, 16, 18, 19}, SensorCount);
-  qtr.setEmitterPin(7);//LEDON PIN
-  
-int timepassed = 0;
-
-  pinMode(mode, OUTPUT);
-  pinMode(aphase, OUTPUT);
-  pinMode(aenbl, OUTPUT);
-  pinMode(bphase, OUTPUT);
-  pinMode(benbl, OUTPUT);
-  digitalWrite(mode, HIGH);
-
-  delay(500);
-  pinMode(LED_BUILTIN, OUTPUT);
-
-  boolean Ok = false;
-  while (Ok == false) { //the loop won't start until the robot is calibrated
-    if(digitalRead(buttoncalibrate) == HIGH) {
-      calibration(); //calibrate the robot for 10 seconds
-      Ok = true;
-    }
-  }
-  forward_brake(0, 0);
-}
-
-void calibration() {
-  digitalWrite(LED_BUILTIN, HIGH);
-  for (uint16_t i = 0; i < 400; i++)
-  {
-    qtr.calibrate();
-  }
-  digitalWrite(LED_BUILTIN, LOW);
-}
-
-void loop() {
-  if(digitalRead(buttonstart) == HIGH) {
-    onoff =! onoff;
-    if(onoff = true) {
-      delay(1000);//a delay when the robot starts
-    }
-    else {
-      delay(50);
-    }
-  }
-  if (onoff == true) {
-    PID_control();
-  }
-  
-  if ((sensors[0] > 750) && (sensors[1] > 750) && (sensors[2] > 750) && (sensors[3] > 750) && (sensors[4] > 750) && (sensors[5] > 750) && (sensors[6] > 750) && (sensors[7] > 750) && (sensors[8] > 750)) {
-    if (timepassed == 1) {
-        motorspeeda = 0;
-        motorspeedb = 0;
-        forward_brake(motorspeeda, motorspeedb);
-        }
-
-    else {
-        timepassed += 1;
-    }
-  }
-  
-  else {
-    forward_brake(0,0);
-  }
-}
-void forward_brake(int posa, int posb) {
-  //set the appropriate values for aphase and bphase so that the robot goes straight
-  digitalWrite(aphase, LOW);
-  digitalWrite(bphase, HIGH);
-  analogWrite(aenbl, posa);
-  analogWrite(benbl, posb);
-}
-void PID_control() {
-  uint16_t position = qtr.readLineBlack(sensorValues);
-  int error = 3500 - position;
-
-  P = error;
-  I = I + error;
-  D = error - lastError;
-  lastError = error;
-  int motorspeed = P*Kp + I*Ki + D*Kd;
-  
-  int motorspeeda = basespeeda + motorspeed;
-  int motorspeedb = basespeedb - motorspeed;
-  
-  if (motorspeeda > maxspeeda) {
-    motorspeeda = maxspeeda;
-  }
-  if (motorspeedb > maxspeedb) {
-    motorspeedb = maxspeedb;
-  }
-  if (motorspeeda < 0) {
-    motorspeeda = 0;
-  }
-  if (motorspeedb < 0) {
-    motorspeedb = 0;
-  } 
-  //Serial.print(motorspeeda);Serial.print(" ");Serial.println(motorspeedb);
-  forward_brake(motorspeeda, motorspeedb);
-}