George_Andreou/Line_Following-Robotex
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Update constants. Possibly the final one.

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Γιώργος Αντρέου 2025-06-27 23:39:52 +03:00
parent 023e78bd1c
commit adb0aa79a7
1 changed files with 7 additions and 7 deletions
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14
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 = 0.09; //set up the constants value float Kp = 0.085; //set up the constants value
float Ki = 0.0009; float Ki = 0.00004;
float Kd = 0.3; float Kd = 0.65;
int P; int P;
int I; int I;
int D; int D;
@ -15,14 +15,14 @@ int lastError = 0;
boolean onoff = false; 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 = 125;
const uint8_t maxspeedb = 150; const uint8_t maxspeedb = 125;
const uint8_t basespeeda = 100; const uint8_t basespeeda = 100;
const uint8_t basespeedb = 100; const uint8_t basespeedb = 100;
// adding minspeed so it can reverse // adding minspeed so it can reverse
const int minspeeda = -150; const int minspeeda = -125;
const int minspeedb = -150; const int minspeedb = -125;
//Set up the drive motor carrier pins //Set up the drive motor carrier pins
int mode = 8; int mode = 8;