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Copy pathLine Follower using 5 sensor Array.ino
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Line Follower using 5 sensor Array.ino
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#define left_motor_forward 8
#define left_motor_backward 9
#define left_motor_pwm 10
#define right_motor_pwm 11
#define right_motor_forward 12
#define right_motor_backward 13
#define set_point 2000
#define max_speed 200 //set Max Speed Value
#define Kp 0 //set Kp Value
#define Ki 0 //set Ki Value
#define Kd 0 //set Kd Value
int proportional=0;
int integral=0;
int derivative=0;
int last_proportional=0;
int right_speed=0;
int left_speed=0;
int sensors_sum=0;
int sensors_average=0;
int sensors[5]={0,0,0,0,0};
int Position=0;
int error_value=0;
void setup()
{
pinMode(right_motor_forward,OUTPUT);
pinMode(right_motor_backward,OUTPUT);
}
void Stop()
{
analogWrite(left_motor_pwm,0);
analogWrite(right_motor_pwm,0);
delay(500);
}
void pid_calc()
{
proportional=Position-set_point;
integral = integral + proportional;
derivative = proportional - last_proportional;
last_proportional = proportional;
error_value = int(proportional * Kp + integral * Ki + derivative * Kd);
}
void calc_turn()
{
//Restricting the error value between +256.
if (error_value< -256)
{
error_value = -256;
}
if (error_value> 256)
{
error_value = 256;
}
// If error_value is less than zero calculate right turn speed values
if (error_value< 0)
{
right_speed = max_speed + error_value;
left_speed = max_speed;
}
else
{
right_speed = max_speed;
left_speed = max_speed - error_value;
}
}
void motor_drive (int right_speed,int left_speed)
{
if (right_speed>255)
right_speed=255;
if (right_speed<0)
right_speed=0;
if (left_speed>255)
left_speed=255;
if (left_speed<0)
left_speed=0;
digitalWrite(left_motor_forward,1);
digitalWrite(right_motor_forward,1);
digitalWrite(left_motor_backward,0);
digitalWrite(right_motor_backward,0);
analogWrite(left_motor_pwm,left_speed);
analogWrite(right_motor_pwm,right_speed);
delay(100);
}
void forward()
{
Serial.println("the bot will move forward");
digitalWrite(left_motor_forward,1);
digitalWrite(right_motor_forward,1);
digitalWrite(left_motor_backward,0);
digitalWrite(right_motor_backward,0);
analogWrite(left_motor_pwm,150);
analogWrite(right_motor_pwm,150);
delay(1000);
Stop();
}
void loop()
{
int sensors_average = 0;
sensors_sum = 0;
for (int i = 0; i <=4; i++)
{
sensors[i] = analogRead(i);
sensors_average += sensors[i] * i * 1000 ;
sensors_sum += sensors[i];
}
if(sensors_sum==0)
{
Stop();
}
if (sensors_sum >= 3500)
{
forward();
}
if(sensors_sum < 3500 && sensors_sum > 0)
{
Position = int(sensors_average / sensors_sum);
pid_calc();
calc_turn();
motor_drive(right_speed,left_speed);
}
delay(500);
}