George_Andreou/Line_Following-Robotex
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add minspeed to take curves easier

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Γιώργος Αντρέου 2025-02-10 21:55:41 +02:00
parent e7fec8a838
commit 8c20bef19d
2 changed files with 8 additions and 140 deletions
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12
pid-example/pid-example.ino
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@ -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) {
motorspeeda = 0;
if (motorspeeda < minspeeda) {
motorspeeda = minspeeda;
}
if (motorspeedb < 0) {
motorspeedb = 0;
if (motorspeedb < minspeedb) {
motorspeedb = minspeedb;
}
//Serial.print(motorspeeda);Serial.print(" ");Serial.println(motorspeedb);
forward_brake(motorspeeda, motorspeedb);