| /* | |
| Copyright (c) 2012 Arduino LLC. All right reserved. | |
| This library is free software; you can redistribute it and/or | |
| modify it under the terms of the GNU Lesser General Public | |
| License as published by the Free Software Foundation; either | |
| version 2.1 of the License, or (at your option) any later version. | |
| This library is distributed in the hope that it will be useful, | |
| but WITHOUT ANY WARRANTY; without even the implied warranty of | |
| MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU | |
| Lesser General Public License for more details. | |
| You should have received a copy of the GNU Lesser General Public | |
| License along with this library; if not, write to the Free Software | |
| Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA | |
| */ | |
| //#include <ArduinoRobotMotorBoard.h> | |
| //#define KP 19 //0.1 units | |
| //#define KD 14 | |
| //#define ROBOT_SPEED 100 //percentage | |
| //#define KP 11 | |
| //#define KD 5 | |
| //#define ROBOT_SPEED 50 | |
| //#define INTEGRATION_TIME 10 //En ms | |
| /*uint8_t KP=11; | |
| uint8_t KD=5; | |
| uint8_t robotSpeed=50; //percentage | |
| uint8_t intergrationTime=10;*/ | |
| /*int lectura_sensor[5], last_error=0, acu=0; | |
| //Estos son los arrays que hay que rellenar con los valores de los sensores | |
| //de suelo sobre blanco y negro. | |
| int sensor_blanco[]={ | |
| 0,0,0,0,0}; | |
| int sensor_negro[]={ | |
| 1023,1023,1023,1023,1023}; | |
| */ | |
| //unsigned long time; | |
| //void mueve_robot(int vel_izq, int vel_der); | |
| //void para_robot(); | |
| //void doCalibration(int speedPct, int time); | |
| //void ajusta_niveles(); //calibrate values | |
| LineFollow::LineFollow(){ | |
| /*KP=11; | |
| KD=5; | |
| robotSpeed=50; //percentage | |
| intergrationTime=10;*/ | |
| config(11,5,50,10); | |
| for(int i=0;i<5;i++){ | |
| sensor_blanco[i]=0; | |
| sensor_negro[i]=1023; | |
| } | |
| } | |
| void LineFollow::config(uint8_t KP, uint8_t KD, uint8_t robotSpeed, uint8_t intergrationTime){ | |
| this->KP=KP; | |
| this->KD=KD; | |
| this->robotSpeed=robotSpeed; | |
| this->intergrationTime=intergrationTime; | |
| /*Serial.print("LFC: "); | |
| Serial.print(KP); | |
| Serial.print(' '); | |
| Serial.print(KD); | |
| Serial.print(' '); | |
| Serial.print(robotSpeed); | |
| Serial.print(' '); | |
| Serial.println(intergrationTime);*/ | |
| } | |
| void LineFollow::calibIRs(){ | |
| static bool isInited=false;//So only init once | |
| if(isInited)return ; | |
| delay(1000); | |
| doCalibration(30,500); | |
| doCalibration(-30,800); | |
| doCalibration(30,500); | |
| delay(1000); | |
| isInited=true; | |
| } | |
| void LineFollow::runLineFollow(){ | |
| for(int count=0; count<5; count++) | |
| { | |
| lectura_sensor[count]=map(_IRread(count),sensor_negro[count],sensor_blanco[count],0,127); | |
| acu+=lectura_sensor[count]; | |
| } | |
| //Serial.println(millis()); | |
| if (acu > NIVEL_PARA_LINEA) | |
| { | |
| acu/=5; | |
| int error = ((lectura_sensor[0]<<6)+(lectura_sensor[1]<<5)-(lectura_sensor[3]<<5)-(lectura_sensor[4]<<6))/acu; | |
| error = constrain(error,-100,100); | |
| //Calculamos la correcion de velocidad mediante un filtro PD | |
| int vel = (error * KP)/10 + (error-last_error)*KD; | |
| last_error = error; | |
| //Corregimos la velocidad de avance con el error de salida del filtro PD | |
| int motor_left = constrain((robotSpeed + vel),-100,100); | |
| int motor_right =constrain((robotSpeed - vel),-100,100); | |
| //Movemos el robot | |
| //motorsWritePct(motor_left,motor_right); | |
| motorsWritePct(motor_left,motor_right); | |
| //Esperamos un poquito a que el robot reaccione | |
| delay(intergrationTime); | |
| } | |
| else | |
| { | |
| //Hemos encontrado una linea negra | |
| //perpendicular a nuestro camino | |
| //paramos el robot | |
| motorsStop(); | |
| //y detenemos la ejecuci�n del programa | |
| //while(true); | |
| reportActionDone(); | |
| //setMode(MODE_SIMPLE); | |
| } | |
| } | |
| void LineFollow::doCalibration(int speedPct, int time){ | |
| motorsWritePct(speedPct, -speedPct); | |
| unsigned long beginTime = millis(); | |
| while((millis()-beginTime)<time) | |
| ajusta_niveles(); | |
| motorsStop(); | |
| } | |
| void LineFollow::ajusta_niveles() | |
| { | |
| int lectura=0; | |
| for(int count=0; count<5; count++){ | |
| lectura=_IRread(count); | |
| if (lectura > sensor_blanco[count]) | |
| sensor_blanco[count]=lectura; | |
| if (lectura < sensor_negro[count]) | |
| sensor_negro[count]=lectura; | |
| } | |
| } | |