Автор Тема: Програмиране на Pololu 3pi Robot  (Прочетена 1108 пъти)

sgzhelev

  • Новодошъл
  • *****
  • Публикации: 2
    • Профил
Програмиране на Pololu 3pi Robot
« -: Декември 24, 2015, 10:34:13 am »
Здравейте,

имам идея да направя робота по права линия да се движи примерно с 250, а когато види завой скоростта да пада автоматично на примерно 100. Като максималната скорост е 255. Използвания код е:

Line Follower PID

// The 3pi include file must be at the beginning of any program that
// uses the Pololu AVR library and 3pi.
#include <pololu/3pi.h>

// This include file allows data to be stored in program space.  The
// ATmega168 has 16k of program space compared to 1k of RAM, so large
// pieces of static data should be stored in program space.
#include <avr/pgmspace.h>

// Introductory messages.  The "PROGMEM" identifier causes the data to
// go into program space.
const char welcome_line1[] PROGMEM = " Pololu";
const char welcome_line2[] PROGMEM = "3\xf7 Robot";
const char demo_name_line1[] PROGMEM = "PID Line";
const char demo_name_line2[] PROGMEM = "follower";

// A couple of simple tunes, stored in program space.
const char welcome[] PROGMEM = ">g32>>c32";
const char go[] PROGMEM = "L16 cdegreg4";

// Data for generating the characters used in load_custom_characters
// and display_readings.  By reading levels[] starting at various
// offsets, we can generate all of the 7 extra characters needed for a
// bargraph.  This is also stored in program space.
const char levels[] PROGMEM = {
   0b00000,
   0b00000,
   0b00000,
   0b00000,
   0b00000,
   0b00000,
   0b00000,
   0b11111,
   0b11111,
   0b11111,
   0b11111,
   0b11111,
   0b11111,
   0b11111
};

// This function loads custom characters into the LCD.  Up to 8
// characters can be loaded; we use them for 7 levels of a bar graph.
void load_custom_characters()
{
   lcd_load_custom_character(levels+0,0); // no offset, e.g. one bar
   lcd_load_custom_character(levels+1,1); // two bars
   lcd_load_custom_character(levels+2,2); // etc...
   lcd_load_custom_character(levels+3,3);
   lcd_load_custom_character(levels+4,4);
   lcd_load_custom_character(levels+5,5);
   lcd_load_custom_character(levels+6,6);
   clear(); // the LCD must be cleared for the characters to take effect
}

// This function displays the sensor readings using a bar graph.
void display_readings(const unsigned int *calibrated_values)
{
   unsigned char i;

   for(i=0;i<5;i++) {
      // Initialize the array of characters that we will use for the
      // graph.  Using the space, an extra copy of the one-bar
      // character, and character 255 (a full black box), we get 10
      // characters in the array.
      const char display_characters[10] = {' ',0,0,1,2,3,4,5,6,255};

      // The variable c will have values from 0 to 9, since
      // calibrated values are in the range of 0 to 1000, and
      // 1000/101 is 9 with integer math.
      char c = display_characters[calibrated_values/101];

      // Display the bar graph character.
      print_character(c);
   }
}

// Initializes the 3pi, displays a welcome message, calibrates, and
// plays the initial music.
void initialize()
{
   unsigned int counter; // used as a simple timer
   unsigned int sensors[5]; // an array to hold sensor values

   // This must be called at the beginning of 3pi code, to set up the
   // sensors.  We use a value of 2000 for the timeout, which
   // corresponds to 2000*0.4 us = 0.8 ms on our 20 MHz processor.
   pololu_3pi_init(2000);
   load_custom_characters(); // load the custom characters
   
   // Play welcome music and display a message
   print_from_program_space(welcome_line1);
   lcd_goto_xy(0,1);
   print_from_program_space(welcome_line2);
   play_from_program_space(welcome);
   delay_ms(1000);

   clear();
   print_from_program_space(demo_name_line1);
   lcd_goto_xy(0,1);
   print_from_program_space(demo_name_line2);
   delay_ms(1000);

   // Display battery voltage and wait for button press
   while(!button_is_pressed(BUTTON_B))
   {
      int bat = read_battery_millivolts();

      clear();
      print_long(bat);
      print("mV");
      lcd_goto_xy(0,1);
      print("Press B");

      delay_ms(100);
   }

   // Always wait for the button to be released so that 3pi doesn't
   // start moving until your hand is away from it.
   wait_for_button_release(BUTTON_B);
   delay_ms(1000);

   // Auto-calibration: turn right and left while calibrating the
   // sensors.
   for(counter=0;counter<80;counter++)
   {
      if(counter < 20 || counter >= 60)
         set_motors(80,-80);
      else
         set_motors(-80,80);

      // This function records a set of sensor readings and keeps
      // track of the minimum and maximum values encountered.  The
      // IR_EMITTERS_ON argument means that the IR LEDs will be
      // turned on during the reading, which is usually what you
      // want.
      calibrate_line_sensors(IR_EMITTERS_ON);

      // Since our counter runs to 80, the total delay will be
      // 80*20 = 1600 ms.
      delay_ms(20);
   }
   set_motors(0,0);

   // Display calibrated values as a bar graph.
   while(!button_is_pressed(BUTTON_B))
   {
      // Read the sensor values and get the position measurement.
      unsigned int position = read_line(sensors,IR_EMITTERS_ON);

      // Display the position measurement, which will go from 0
      // (when the leftmost sensor is over the line) to 4000 (when
      // the rightmost sensor is over the line) on the 3pi, along
      // with a bar graph of the sensor readings.  This allows you
      // to make sure the robot is ready to go.
      clear();
      print_long(position);
      lcd_goto_xy(0,1);
      display_readings(sensors);

      delay_ms(100);
   }
   wait_for_button_release(BUTTON_B);

   clear();

   print("Go!");      

   // Play music and wait for it to finish before we start driving.
   play_from_program_space(go);
   while(is_playing());
}

// This is the main function, where the code starts.  All C programs
// must have a main() function defined somewhere.
int main()
{
   unsigned int sensors[5]; // an array to hold sensor values
   unsigned int last_error=0;
   long integral=0;

   // set up the 3pi
   initialize();

   // This is the "main loop" - it will run forever.
   while(1)
   {
      // Get the position of the line.  Note that we *must* provide
      // the "sensors" argument to read_line() here, even though we
      // are not interested in the individual sensor readings.
      unsigned int position = read_line(sensors,IR_EMITTERS_ON);

      // The "proportional" term should be 0 when we are on the line.
      int error = ((int)position) - 2000;

      // Compute the derivative (change) and integral (sum) of the
      // position.
      int derivative = error - last_error;
      integral = integral + error;

      // Remember the last position.
      last_error = error;

        float Kp = 0.07;
      float Kd = 0.8;
      float Ki = 0;
      // Compute the difference between the two motor power settings,
      // m1 - m2.If this is a positive number the robot will turn
      // to the right.  If it is a negative number, the robot will
      // turn to the left, and the magnitude of the number determines
      // the sharpness of the turn.
      int power_difference = error * Kp + integral * Ki + derivative * Kd;

      // Compute the actual motor settings.  We never set either motor
      // to a negative value.
      const int max = 255;
      if(power_difference > max)
         power_difference = max;
      if(power_difference < -max)
         power_difference = -max;

      int base_speed = 140;
      //if(power_difference < 130)
         set_motors(base_speed + power_difference, base_speed - power_difference);
      //else
         //set_motors(base_speed - power_difference, base_speed + power_difference);
   }

   // This part of the code is never reached.  A robot should
   // never reach the end of its program, or unpredictable behavior
   // will result as random code starts getting executed.  If you
   // really want to stop all actions at some point, set your motors
   // to 0,0 and run the following command to loop forever:
   //
   // while(1);
}

// Local Variables: **
// mode: C **
// c-basic-offset: 4 **
// tab-width: 4 **
// indent-tabs-mode: t **
// end: **


Ако може някой да ми помогне ще съм много благодарен!