Revision 7:a72215b1910b, committed 2015-02-25

Comitter:

pcordemans

Date:

Wed Feb 25 15:56:14 2015 +0000

Parent:

6:0dc4e4225881

Child:

8:c5dccd557aab

Commit message:

PID works, updated the comments

Changed in this revision

--- a/robot_logic.cpp	Wed Feb 25 09:10:13 2015 +0000
+++ b/robot_logic.cpp	Wed Feb 25 15:56:14 2015 +0000
@@ -3,8 +3,8 @@
 // Some defines
 #define MAX_SPEED 100
 #define MAX_SENSOR 100
-#define MAX_REAL_SPEED 0.3
-#define MAX 0.3
+#define MAX_REAL_SPEED 0.75
+
 #define MIN 0
 
 // Static scope variables
@@ -22,7 +22,7 @@
 void drive(int speed)
 {
     if (speed > MAX_SPEED || speed < -MAX_SPEED) {
-        printf("[ERROR] Drive speed out of range");
+        error("Speed out of range");
         return;
     }
 
@@ -40,7 +40,7 @@
 void turn(int turnspeed)
 {
     if (turnspeed > MAX_SPEED || turnspeed < -MAX_SPEED) {
-        error("Speed out of range");
+        error("Turn out of range");
         return;
     }
     internal_turnspeed = turnspeed;
@@ -89,14 +89,10 @@
 
 int pid_turn(int line_position)
 {
-    float right;
-    float left;
-
     float derivative, proportional, integral = 0;
     float power;
-    float speed = internal_speed;
 
-    proportional = line_position;
+    proportional = line_position / 100.0;
 
     // Compute the derivative
     derivative = line_position - internal_previous_pos_of_line;
@@ -110,12 +106,14 @@
     // Compute the power
     power = (proportional * (internal_p) ) + (integral*(internal_i)) + (derivative*(internal_d)) ;
 
-    return power;
+    power = power * MAX_SPEED;
+    if (power < -MAX_SPEED)
+        power = -MAX_SPEED;
+    else if (power > MAX_SPEED)
+        power = MAX_SPEED;
+    return power ;
 }
 
-/**
-  *Show speed, turn and sensor data
-  */
 void show_stats(void)
 {
     m3pi.cls();          // Clear display

--- a/robot_logic.h	Wed Feb 25 09:10:13 2015 +0000
+++ b/robot_logic.h	Wed Feb 25 15:56:14 2015 +0000
@@ -46,7 +46,7 @@
 
 /**
  * Calibrate the line follow sensors.
- * Take note that the pololu should be placed over the line
+ * Take note that the robot should be placed over the line
  * before this function is called and that it will rotate to
  * both sides.
  */
@@ -72,7 +72,7 @@
 void pid_init(int p, int i, int d);
 
 /**
- * Determine PID turnspeed with which the pololu should
+ * Determine PID turnspeed with which the robot should
  * turn to follow the line at the given position.
  *
  * @param line_position The position of the line in a range of [-100, +100]
@@ -98,6 +98,7 @@
   * Turn on, off or toggle a specific LED
   * @param i the LED number LED_0 .. LED_7
   * @param state the LED state LED_ON, LED_OFF, LED_TOGGLE 
+  * @example led(LED_0, LED_ON); turns LED 0 on.
   */
 void led(LedIndex i, LedState state);