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giorgos 2022-06-03 18:19:25 +03:00
parent a7e042dd51
commit be3833f6cf
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pis-examplev2.01/pis-examplev2.01.ino
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//Make sure to install the library
#include <QTRSensors.h>
QTRSensors qtr;
const uint8_t SensorCount = 8;
uint16_t sensorValues[SensorCount];
float Kp = 0.07; //set up the constants value
float Ki = 0.001;
float Kd = 0.6;
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 = 120;
const uint8_t maxspeedb = 120;
const uint8_t basespeeda = 100;
const uint8_t basespeedb = 100;
//Set up the drive motor carrier pins
int mode = 8;
/*int aphase = 9;
int aenbl = 6;
int bphase = 5;
int benbl = 3;*/
int aphase = 6;
int aenbl = 9;
int bphase = 3;
int benbl = 5;
//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
pinMode(mode, OUTPUT);
pinMode(aphase, OUTPUT);
pinMode(aenbl, OUTPUT);
pinMode(bphase, OUTPUT);
pinMode(benbl, OUTPUT);
digitalWrite(mode, HIGH);
delay(500);
pinMode(LED_BUILTIN, OUTPUT);
//Stephanos code - LED will blink for 3 seconds and then
/* calibration will begin running for 10 seconds;
this happens when our system boots. Giorgo i removed
the functionality to calibrate through the button keypress.*/
for (int counter=0; counter < 3;counter++){
digitalWrite(LED_BUILTIN, HIGH);
delay(500);
digitalWrite(LED_BUILTIN, LOW);
delay(500);
}
calibration();
//When calibration is compelted we understand that by blinking the LED for
//5 times in a period of 2 seconds, faster than getting ready for calibration
for (int counter=0; counter < 3;counter++){
digitalWrite(LED_BUILTIN, HIGH);
delay(200);
digitalWrite(LED_BUILTIN, LOW);
delay(200);
}
//modified by Stephanos - commented out
/*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);
Serial.print("Calibration COMPLETED!!!");
}
void loop() {
/*if (digitalRead(buttonstart) == HIGH) {
onoff = ! onoff;
if (onoff = true) {
delay(1000);//a delay when the robot starts
}
else {
delay(50);
}
}*/
delay(3000);// a small 3 seconds delay before starting our rebot
PID_control();
/*if (onoff == true) {
PID_control();
}
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, HIGH);
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);
}