Commit

pis-examplev2.01/pis-examplev2.01.ino

@@ -1,161 +0,0 @@
-  //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);
-}