George_Andreou/Line_Following-Robotex
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Change the P and D values

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Γιώργος Αντρέου 2026-06-27 01:53:51 +03:00
parent b335a6ef96
commit 9134fe0440
1 changed files with 15 additions and 8 deletions
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23
pid-example/pid-example.ino
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@ -4,9 +4,9 @@ QTRSensors qtr;
const uint8_t SensorCount = 8; const uint8_t SensorCount = 8;
uint16_t sensorValues[SensorCount]; uint16_t sensorValues[SensorCount];
float Kp = 0.085; //set up the constants value float Kp = 0.1; //set up the constants value
float Ki = 0.00004; float Ki = 0;
float Kd = 0.66; float Kd = 0.5;
int P; int P;
int I; int I;
int D; int D;
@ -17,8 +17,8 @@ boolean onoff = false;
//Increasing the maxspeed can damage the motors - at a value of 255 the 6V motors will receive 7,4 V //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 maxspeeda = 150;
const uint8_t maxspeedb = 150; const uint8_t maxspeedb = 150;
const uint8_t basespeeda = 120; const uint8_t basespeeda = 100;
const uint8_t basespeedb = 120; const uint8_t basespeedb = 100;
// adding minspeed so it can reverse // adding minspeed so it can reverse
const int minspeeda = -150; const int minspeeda = -150;
@ -74,7 +74,7 @@ void calibration() {
void loop() { void loop() {
if(digitalRead(buttonstart) == HIGH) { if(digitalRead(buttonstart) == HIGH) {
onoff =! onoff; onoff =! onoff;
if(onoff = true) { if(onoff == true) {
delay(1000);//a delay when the robot starts delay(1000);//a delay when the robot starts
} }
else { else {
@ -114,16 +114,23 @@ void speedcontrol(int mota, int motb) {
forward_brake(mota, motb); forward_brake(mota, motb);
} }
if (mota < 0 && motb >= 0) { if (mota < 0 && motb >= 0) {
//dreapta
mota = 0 - mota; mota = 0 - mota;
right_brake(mota, motb); right_brake(mota, motb);
} }
if (mota >= 0 && motb < 0) { if (mota >= 0 && motb < 0) {
//stanga
motb = 0 - motb; motb = 0 - motb;
left_brake(mota, motb); left_brake(mota, motb);
} }
if (mota < 0 && motb < 0) {
// both reversing — clamp or handle as a pivot/brake depending on your track
mota = -mota;
motb = -motb;
// e.g. sharp spin: one motor forward, one back
right_brake(mota, motb); // or left_brake, or forward_brake(0,0) to just brake
}
} }
void PID_control() { void PID_control() {