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    Code For Line Follower

    Uploaded by

    Raniel Gere Gregorio
    This document defines code for controlling two motors to follow a line using sensor readings. It includes definitions for the motors and QTR sensors, calibration of the sensors, and a loop to read the sensors, calculate motor speeds based on error, and set the motor speeds. The goal is to center the sensor reading on a target position to follow the line.

    Copyright:

    © All Rights Reserved
    Download as TXT, PDF, TXT or read online from Scribd

    Code For Line Follower

    Uploaded by

    Raniel Gere Gregorio
    9 views2 pages
    This document defines code for controlling two motors to follow a line using sensor readings. It includes definitions for the motors and QTR sensors, calibration of the sensors, and a loop to read the sensors, calculate motor speeds based on error, and set the motor speeds. The goal is to center the sensor reading on a target position to follow the line.

    Original Title

    CODE FOR LINE FOLLOWER

    Copyright

    © © All Rights Reserved

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    TXT, PDF, TXT or read online from Scribd

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    This document defines code for controlling two motors to follow a line using sensor readings. It includes definitions for the motors and QTR sensors, calibration of the sensors, and a loop to read the sensors, calculate motor speeds based on error, and set the motor speeds. The goal is to center the sensor reading on a target position to follow the line.

    Copyright:

    © All Rights Reserved
    Download as TXT, PDF, TXT or read online from Scribd
    Download as txt, pdf, or txt
    9 views2 pages

    Code For Line Follower

    Uploaded by

    Raniel Gere Gregorio
    This document defines code for controlling two motors to follow a line using sensor readings. It includes definitions for the motors and QTR sensors, calibration of the sensors, and a loop to read the sensors, calculate motor speeds based on error, and set the motor speeds. The goal is to center the sensor reading on a target position to follow the line.

    Copyright:

    © All Rights Reserved
    Download as TXT, PDF, TXT or read online from Scribd
    Download as txt, pdf, or txt
    of 2

    #include <AFMotor.h> //Adafruit Motor Shield Library.

    First you must download


    and install AFMotor library
    #include <QTRSensors.h> //Pololu QTR Sensor Library. First you must download and
    install QTRSensors library

    AF_DCMotor motor1(1, MOTOR12_1KHZ ); //create motor #1 using M1 output on Motor


    Drive Shield, set to 1kHz PWM frequency
    AF_DCMotor motor2(2, MOTOR12_1KHZ ); //create motor #2 using M2 output on Motor
    Drive Shield, set to 1kHz PWM frequency

    #define KP 2 //experiment to determine this, start by something small that just


    makes your bot follow the line at a slow speed
    #define KD 5 //experiment to determine this, slowly increase the speeds and adjust
    this value. ( Note: Kp < Kd)
    #define M1_minumum_speed 150 //minimum speed of the Motor1
    #define M2_minumum_speed 150 //minimum speed of the Motor2
    #define M1_maksimum_speed 250 //max. speed of the Motor1
    #define M2_maksimum_speed 250 //max. speed of the Motor2
    #define MIDDLE_SENSOR 4 //number of middle sensor used
    #define NUM_SENSORS 5 //number of sensors used
    #define TIMEOUT 2500 //waits for 2500 us for sensor outputs to go low
    #define EMITTER_PIN 2 //emitterPin is the Arduino digital pin that controls
    whether the IR LEDs are on or off. Emitter is controlled by digital pin 2
    #define DEBUG 0

    //sensors 0 through 5 are connected to analog inputs 0 through 5, respectively


    QTRSensorsRC qtrrc((unsigned char[]) { A4,A3,A2,A1,A0} ,NUM_SENSORS, TIMEOUT,
    EMITTER_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); //get calibrated readings along with the
    line position, refer to the QTR Sensors Arduino Library for more details on line
    position.
    int error = position - 2000;

    int motorSpeed = KP * error + KD * (error - lastError);


    lastError = error;

    int leftMotorSpeed = M1_minumum_speed + motorSpeed;


    int rightMotorSpeed = M2_minumum_speed - 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_speed ) motor1speed = M1_maksimum_speed;
    if (motor2speed > M2_maksimum_speed ) motor2speed = M2_maksimum_speed;
    if (motor1speed < 0) motor1speed = 0;
    if (motor2speed < 0) motor2speed = 0;
    motor1.setSpeed(motor1speed);
    motor2.setSpeed(motor2speed);
    motor1.run(FORWARD);
    motor2.run(FORWARD);
    }

    //calibrate for sometime by sliding the sensors across the line, or you may use
    auto-calibration instead
    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();
    }
    }w

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