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    Line Follower Robot Arduino

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    awais8991
    This document defines code for controlling two DC motors connected to an Arduino board to follow a line using 5 infrared sensors. It includes definitions for proportional and derivative constants for the motor control, motor speed limits, and functions for reading the sensor values, calculating motor speeds based on PID control, and setting the motor speeds. The code initializes the motors and sensors, performs a manual calibration of the sensors, and enters a loop to continuously read the sensor values, calculate errors from a target position, determine motor speeds based on PID control, and set the motor speeds.

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    Line Follower Robot Arduino

    Uploaded by

    awais8991
    56 views2 pages
    This document defines code for controlling two DC motors connected to an Arduino board to follow a line using 5 infrared sensors. It includes definitions for proportional and derivative constants for the motor control, motor speed limits, and functions for reading the sensor values, calculating motor speeds based on PID control, and setting the motor speeds. The code initializes the motors and sensors, performs a manual calibration of the sensors, and enters a loop to continuously read the sensor values, calculate errors from a target position, determine motor speeds based on PID control, and set the motor speeds.

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    Arduino data

    Original Title

    Line Follower robot arduino

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    This document defines code for controlling two DC motors connected to an Arduino board to follow a line using 5 infrared sensors. It includes definitions for proportional and derivative constants for the motor control, motor speed limits, and functions for reading the sensor values, calculating motor speeds based on PID control, and setting the motor speeds. The code initializes the motors and sensors, performs a manual calibration of the sensors, and enters a loop to continuously read the sensor values, calculate errors from a target position, determine motor speeds based on PID control, and set the motor speeds.

    Copyright:

    © All Rights Reserved
    Download as TXT, PDF, TXT or read online from Scribd
    Flag for inappropriate content
    Download as txt, pdf, or txt
    56 views2 pages

    Line Follower Robot Arduino

    Uploaded by

    awais8991
    This document defines code for controlling two DC motors connected to an Arduino board to follow a line using 5 infrared sensors. It includes definitions for proportional and derivative constants for the motor control, motor speed limits, and functions for reading the sensor values, calculating motor speeds based on PID control, and setting the motor speeds. The code initializes the motors and sensors, performs a manual calibration of the sensors, and enters a loop to continuously read the sensor values, calculate errors from a target position, determine motor speeds based on PID control, and set the motor speeds.

    Copyright:

    © All Rights Reserved
    Download as TXT, PDF, TXT or read online from Scribd
    Flag for inappropriate content
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    of 2

    #include <AFMotor.

    h>
    #include <QTRSensors.h>
    AF_DCMotor motor1(1, MOTOR12_8KHZ );
    AF_DCMotor motor2(2, MOTOR12_8KHZ );
    #define
    #define
    #define
    #define
    #define
    #define
    #define
    #define
    #define
    #define
    #define

    KP .2
    KD 5
    M1_minumum_hiz 120
    M2_minumum_hiz 120
    M1_maksimum_hiz 210
    M2_maksimum_hiz 210
    MIDDLE_SENSOR 3
    NUM_SENSORS 5
    TIMEOUT 2500
    EMITTER_PIN 2
    DEBUG 0

    QTRSensorsRC qtrrc((unsigned char[]) { 19,18,17,16,15} ,NUM_SENSORS, TIMEOUT, EM


    ITTER_PIN);
    unsigned int sensorValues[NUM_SENSORS];
    void setup()
    {
    delay(1500);
    manual_calibration();
    set_motors(0,0);
    }
    int lastError = 0;
    int last_proportional = 0;
    int integral = 0;
    void loop()
    {
    unsigned int sensors[5];
    int position = qtrrc.readLine(sensors);
    int error = position 2000;
    int motorSpeed = KP * error + KD * (error lastError);
    lastError = error;
    int leftMotorSpeed = M1_minumum_hiz + motorSpeed;
    int rightMotorSpeed = M2_minumum_hiz motorSpeed;
    // set motor speeds using the two motor speed variables above
    set_motors(leftMotorSpeed, rightMotorSpeed);
    }
    void set_motors(int motor1speed, int motor2speed)
    {
    if (motor1speed > M1_maksimum_hiz ) motor1speed = M1_maksimum_hiz; //MAKSMUM MOTO
    R 1 HIZ LMT
    if (motor2speed > M2_maksimum_hiz ) motor2speed = M2_maksimum_hiz; // MAKSMUM MOT
    OR 2 HIZ LMT
    if (motor1speed < 0) motor1speed = 0; // MNIMUMMOTOER 1 HIZ LMT
    if (motor2speed < 0) motor2speed = 0; // MNMUM MOTOR 2 HIZ LMT
    motor1.setSpeed(motor1speed); //1.MOTOR HIZI
    motor2.setSpeed(motor2speed);// 2.MOTOR HIZI
    motor1.run(FORWARD); //LER

    motor2.run(FORWARD); //LER
    }
    void manual_calibration() {
    int i;
    for (i = 0; i < 250; i++)
    {
    qtrrc.calibrate(QTR_EMITTERS_ON);
    delay(20);
    }
    if (DEBUG) {
    Serial.begin(9600);
    for (int i = 0; i < NUM_SENSORS; i++)
    {
    Serial.print(qtrrc.calibratedMinimumOn[i]);
    Serial.print( );
    }
    Serial.println();
    for (int i = 0; i < NUM_SENSORS; i++)
    {
    Serial.print(qtrrc.calibratedMaximumOn[i]);
    Serial.print( );
    }
    Serial.println();
    Serial.println();
    }
    }
    /////// Arduino Uno QTR-8RC Infrared Sensor L293D motor driver card robot Kits

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