George_Andreou/Line_Following-Robotex
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Γιώργος Αντρέου 2026-05-07 01:41:29 +03:00
parent adb0aa79a7
commit fa38e97fbd
2 changed files with 239 additions and 7 deletions
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14
pid-example/pid-example.ino
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@ -6,7 +6,7 @@ uint16_t sensorValues[SensorCount];
float Kp = 0.085; //set up the constants value
float Ki = 0.00004;
float Kd = 0.65;
float Kd = 0.66;
int P;
int I;
int D;
@ -15,14 +15,14 @@ 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 = 125;
const uint8_t maxspeedb = 125;
const uint8_t basespeeda = 100;
const uint8_t basespeedb = 100;
const uint8_t maxspeeda = 150;
const uint8_t maxspeedb = 150;
const uint8_t basespeeda = 120;
const uint8_t basespeedb = 120;
// adding minspeed so it can reverse
const int minspeeda = -125;
const int minspeedb = -125;
const int minspeeda = -150;
const int minspeedb = -150;
//Set up the drive motor carrier pins
int mode = 8;