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//Make sure to install the library |
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#include <QTRSensors.h> |
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QTRSensors qtr; |
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const uint8_t SensorCount = 8; |
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uint16_t sensorValues[SensorCount]; |
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float Kp = 0.07; //set up the constants value |
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float Ki = 0.001; |
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float Kd = 0.6; |
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int P; |
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int I; |
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int D; |
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int lastError = 0; |
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boolean onoff = false; |
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//Increasing the maxspeed can damage the motors - at a value of 255 the 6V motors will receive 7,4 V |
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const uint8_t maxspeeda = 120; |
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const uint8_t maxspeedb = 120; |
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const uint8_t basespeeda = 100; |
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const uint8_t basespeedb = 100; |
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//Set up the drive motor carrier pins |
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int mode = 8; |
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/*int aphase = 9; |
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int aenbl = 6; |
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int bphase = 5; |
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int benbl = 3;*/ |
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int aphase = 6; |
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int aenbl = 9; |
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int bphase = 3; |
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int benbl = 5; |
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//Set up the buttons pins |
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int buttoncalibrate = 17; //pin A3 |
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int buttonstart = 2; |
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void setup() { |
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Serial.begin(9600); |
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qtr.setTypeRC(); |
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//Set up the sensor array pins |
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qtr.setSensorPins((const uint8_t[]) { |
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10, 11, 12, 14, 15, 16, 18, 19 |
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}, SensorCount); |
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qtr.setEmitterPin(7);//LEDON PIN |
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pinMode(mode, OUTPUT); |
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pinMode(aphase, OUTPUT); |
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pinMode(aenbl, OUTPUT); |
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pinMode(bphase, OUTPUT); |
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pinMode(benbl, OUTPUT); |
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digitalWrite(mode, HIGH); |
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delay(500); |
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pinMode(LED_BUILTIN, OUTPUT); |
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//Stephanos code - LED will blink for 3 seconds and then |
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/* calibration will begin running for 10 seconds; |
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this happens when our system boots. Giorgo i removed |
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the functionality to calibrate through the button keypress.*/ |
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for (int counter=0; counter < 3;counter++){ |
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digitalWrite(LED_BUILTIN, HIGH); |
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delay(500); |
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digitalWrite(LED_BUILTIN, LOW); |
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delay(500); |
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} |
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calibration(); |
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//When calibration is compelted we understand that by blinking the LED for |
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//5 times in a period of 2 seconds, faster than getting ready for calibration |
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for (int counter=0; counter < 3;counter++){ |
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digitalWrite(LED_BUILTIN, HIGH); |
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delay(200); |
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digitalWrite(LED_BUILTIN, LOW); |
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delay(200); |
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} |
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//modified by Stephanos - commented out |
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/*boolean Ok = false; |
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while (Ok == false) { //the loop won't start until the robot is calibrated |
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if (digitalRead(buttoncalibrate) == HIGH) { |
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calibration(); //calibrate the robot for 10 seconds |
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Ok = true; |
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} |
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}*/ |
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forward_brake(0, 0); |
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} |
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void calibration() { |
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digitalWrite(LED_BUILTIN, HIGH); |
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for (uint16_t i = 0; i < 400; i++) |
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{ |
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qtr.calibrate(); |
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} |
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digitalWrite(LED_BUILTIN, LOW); |
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Serial.print("Calibration COMPLETED!!!"); |
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} |
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void loop() { |
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/*if (digitalRead(buttonstart) == HIGH) { |
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onoff = ! onoff; |
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if (onoff = true) { |
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delay(1000);//a delay when the robot starts |
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} |
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else { |
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delay(50); |
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} |
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}*/ |
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delay(3000);// a small 3 seconds delay before starting our rebot |
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PID_control(); |
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/*if (onoff == true) { |
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PID_control(); |
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} |
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else { |
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forward_brake(0, 0); |
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}*/ |
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} |
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void forward_brake(int posa, int posb) { |
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//set the appropriate values for aphase and bphase so that the robot goes straight |
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digitalWrite(aphase, HIGH); |
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digitalWrite(bphase, HIGH); |
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analogWrite(aenbl, posa); |
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analogWrite(benbl, posb); |
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} |
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void PID_control() { |
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uint16_t position = qtr.readLineBlack(sensorValues); |
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int error = 3500 - position; |
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P = error; |
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I = I + error; |
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D = error - lastError; |
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lastError = error; |
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int motorspeed = P * Kp + I * Ki + D * Kd; |
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int motorspeeda = basespeeda + motorspeed; |
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int motorspeedb = basespeedb - motorspeed; |
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if (motorspeeda > maxspeeda) { |
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motorspeeda = maxspeeda; |
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} |
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if (motorspeedb > maxspeedb) { |
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motorspeedb = maxspeedb; |
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} |
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if (motorspeeda < 0) { |
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motorspeeda = 0; |
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} |
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if (motorspeedb < 0) { |
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motorspeedb = 0; |
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} |
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Serial.print(motorspeeda);Serial.print(" ");Serial.println(motorspeedb); |
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forward_brake(motorspeeda, motorspeedb); |
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} |