Line follower code

[saba_rish91]

Hi,

I built a line following robot and it didn't come out well. Can someone upload the code of line follower with and without PID control for reference? (Preferably Arduino code)


Thanks in Advance.

[dunz]

I'll share my linefollow-code with and without PD-control

With PD-control
Without PD-control

[saba_rish91]

I'll share my linefollow-code with and without PD-control

With PD-control
Without PD-control

Thanks a lot!

[jkerns]

How many sensors do you have and what kind are they? It makes a big difference.

Code: [Select]

// taskControl
// This task runs in parallel to taskBalance.  This task monitors
// the optical and ultrasonic sensors and sets the global variables motorControlDrive
// and motorControlSteer.  Both of these values are in degrees/second.
//
task taskControl()
{
  Follows(main);

  char pfData[8];


  while(true) {
 
     LightSignal = SensorNormalized(LIGHT_SENSE);
     LightSignalPrev = LightSignalBar;
     // calculate filtered value of light signal for Deriv. control.
     LightSignalBar = FCTRACKING*LightSignal + (1.0-FCTRACKING)* LightSignalBar;
     
     // derivitive of light signal
     LightSignalDeriv = KDTRACKING*(LightSignalBar - LightSignalPrev);
     LightSignalErr =  (LightSignal - LIGHT_TARGET);
     LightSignalInt +=  KITRACKING*LightSignalErr;
     
      NumOut(50, LCD_LINE6, LightSignal);
     
    // change over to use ultrasonic sensor for object detection
    // stop when object detected - later on we can add u turn after timeout
    // JMK
     ObjectDistance = SensorUS(ULTRASONIC_SENSOR);

    if (ObjectDistance < MIN_DISTANCE) {
    // stop here.
        motorControlDrive = 0;
        motorControlSteer = 0;
         }
       else {
    // Set control Drive and Steer.  These are in motor degree/second
    // KPTRACKING  proportional gain for line following mode
    // KITRACKING  Integral gain for line following mode
    // KDTRACKING  Derivitive gain for line following mode - currently set = 0
    // FCTRACKING  filter constant for derivitive gain


    motorControlDrive = NOM_SPEED;
    motorControlSteer = (KPTRACKING * LightSignalErr )+ LightSignalDeriv + LightSignalInt
                         ;
    // Turn left if the intensity is too low, right if it is too high.
         }



    //Wait(CONTROL_WAIT);
  }