meshmerize/pid controller at main · paulrobertmaliyakal-stack/meshmerize · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
#define led 13
#define dryrunswitch 12
#define actualrunswitch 11
#define AIN1 6
#define BIN1 9
#define AIN2 5
#define BIN2 8
#define PWM1 3
#define PWM2 10
#define stby 7
#define basespeed 120
#define Kp   // to be determined
#define Kd 30
#define l 1
#define s 2
#define r 3
#define b 4
#define finish 5

void motor1(bool dir1,bool dir2,uint8_t pwm);
void motor2(bool dir1,bool dir2,uint8_t pwm);

void motor1(bool dir1,bool dir2,uint8_t pwm){
  digitalWrite(AIN1,dir1);
  digitalWrite(AIN2,dir2);
  analogWrite(PWM1,pwm);
}

void motor2(bool dir1,bool dir2,uint8_t pwm){
  digitalWrite(BIN1,dir1);
  digitalWrite(BIN2,dir2);
  analogWrite(PWM2,pwm);
}

int index=0;
int path [100];
bool linestate [5];
float error,error_prev;
int steeringval;
int leftmotspeed;
int rightmotspeed;
float numerator;
float denominator;

void readir(){
  for(int i=0;i<5;i++){
     linestate[i]=digitalRead(18-i);
    Serial.print(linestate[i]);
    Serial.print("\t");
  }
  Serial.println("");
}

void linefollow(){
  error_prev=error;
  numerator = ((linestate[0]*(-2))+(linestate[1]*(-1))+(linestate[3]) + (linestate[4]*2));
  denominator = linestate[0]+linestate[1]+linestate[2]+linestate[3]+linestate[4];
  error=(numerator)/(denominator);
  Serial.print("Numerator: ");
  Serial.print(numerator);
  Serial.print("\t");
  Serial.print("Dinominator: ");
  Serial.print(denominator);
  Serial.print("\n");

  Serial.print("Error: ");
  Serial.print(error);
  Serial.print("\n");
  steeringval = Kp*error + Kd*(error-error_prev);
  leftmotspeed = (basespeed)+steeringval;
  rightmotspeed = (basespeed)-steeringval;
  motor1(1,0,(leftmotspeed<0?0:leftmotspeed));
  Serial.print(leftmotspeed);
  Serial.print("\t");
  motor2(1,0,(rightmotspeed<0?0:rightmotspeed));
  Serial.println(rightmotspeed);
}

void setup(){
  Serial.begin(9600);
  pinMode(14,INPUT);
  pinMode(15,INPUT);
  pinMode(16,INPUT);
  pinMode(17,INPUT);
  pinMode(18,INPUT);
  pinMode(AIN1,OUTPUT);
  pinMode(AIN2,OUTPUT);
  pinMode(PWM1,OUTPUT);
  pinMode(BIN1,OUTPUT);
  pinMode(BIN2,OUTPUT);
  pinMode(PWM2,OUTPUT);
  pinMode(actualrunswitch,INPUT);
  pinMode(dryrunswitch,INPUT);
  pinMode(led,OUTPUT);
  digitalWrite(stby,HIGH);
}

void loop(){
  readir();
  linefollow();
  // delay(500);
}