Diff: main.cpp

Revision:

0:301acbabd57a

Child:

1:e046cce6ceb8

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Thu Nov 11 05:45:44 2010 +0000
@@ -0,0 +1,62 @@
+#include "mbed.h"
+#include "m3pi.h"
+
+BusOut leds(LED1,LED2,LED3,LED4);
+m3pi m3pi(p23,p9,p10);
+
+#define MAX 1.0
+#define MIN 0
+#define P_TERM 1
+#define I_TERM 0
+#define D_TERM 20
+
+int main() {
+
+    m3pi.locate(0,1);
+    m3pi.printf("Line Flw");
+
+    wait(2.0);
+
+    float right;
+	float left;
+	float position_of_line = 0.0;
+    float prev_pos_of_line = 0.0;
+	float derivative,proportional;
+	float integral = 0;
+	float power;
+    m3pi.sensor_auto_calibrate();
+    float speed = MAX;
+	
+    while (1) {
+
+        // Get the position of the line.
+        position_of_line = m3pi.line_position();
+		proportional = position_of_line;
+		// Compute the derivative
+        derivative = position_of_line - prev_pos_of_line;
+		// Compute the integral
+		integral += proportional;
+
+        power = (proportional * (P_TERM) ) + (integral*(I_TERM)) + (derivative*(D_TERM)) ;
+		// Remember the last position.
+        prev_pos_of_line = position_of_line;        
+        right = speed+power;
+        left  = speed-power;
+        
+        if (right < MIN)
+            right = MIN;
+        else if (right > MAX)
+            right = MAX;
+            
+        if (left < MIN)
+            left = MIN;
+        else if (left > MAX)
+            left = MAX;
+            
+       // set speed 
+        m3pi.left_motor(left);
+        m3pi.right_motor(right);
+
+
+    }
+}
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