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PID_V1.ino

@@ -0,0 +1,127 @@
+//YWROBOT
+//Compatible with the Arduino IDE 1.0
+//Library version:1.1
+#include <Wire.h> 
+#include <LiquidCrystal_I2C.h>
+#define FORWARD_RM    11          // RIGHT MOTORS FORWARD MOVEMENT
+#define FORWARD_LM     6         // LEFT MOTORS FORWARD MOVEMENT
+#define BACKWARD_RM   10        // RIGHT MOTORS BACKWARD MOVEMENT
+#define BACKWARD_LM    9       // LEFT MOTORS BACKWARD MOVEMENT
+#define BUTTON         4      // ON/OFF BUTTON
+int IR[5] = { A0, A1, A2, A3, A4 };  
+int IR_READ[5],speed,currentPos,setPos=12,currentError,prevError,I,D,Flag=1; 
+String serial_input= "";
+float kp,kd,ki,PIDOut; 
+LiquidCrystal_I2C lcd(0x27,16,2);  // set the LCD address to 0x27 for a 16 chars and 2 line display
+
+void getSerial(){
+   while (Serial.available())
+ {
+  char x=Serial.read();
+  serial_input +=x;
+  delay(2);
+ }
+ if (serial_input.length()>0)
+ {
+  getpidvalue();
+ }
+}
+void getpidvalue()
+{
+  if(serial_input.substring(0,2)=="kp")
+  {serial_input.remove(0,2);
+  kp=serial_input.toFloat();
+   serial_input= "";
+    }
+  if(serial_input.substring(0,2)=="ki")
+  {serial_input.remove(0,2);
+  ki=serial_input.toFloat();
+   serial_input= "";
+    }
+  if(serial_input.substring(0,2)=="kd")
+  {serial_input.remove(0,2);
+  kd=serial_input.toFloat();
+  serial_input= "";
+    }
+  if(serial_input.substring(0,2)=="sp")
+  {serial_input.remove(0,2);
+  speed=serial_input.toInt();
+   serial_input= "";
+    }
+   lcd.clear();
+   lcd.setCursor(0,0);
+   lcd.print("kp=");
+   lcd.print(kp,4);
+   lcd.setCursor(0,1);
+   lcd.print("ki=");
+   lcd.print(ki,4);
+   delay(1500);
+   lcd.clear();
+   lcd.setCursor(0,0);
+   lcd.print("kd=");
+   lcd.print(kd);
+   lcd.setCursor(0,1);
+   lcd.print("speed=");
+   lcd.print(speed);
+}
+
+void readIR()
+{
+  for (int i = 0; i < 5; i++) 
+        IR_READ[i] = digitalRead(IR[i]);  //STORE IR READINGS IN ARRAY     
+}
+
+void STOP() {
+  analogWrite(FORWARD_RM, LOW);
+  analogWrite(FORWARD_LM, LOW);
+}
+
+void FollowLine(){
+   readIR();
+  currentPos=IR_READ[0]*1+IR_READ[1]*2+IR_READ[2]*3+IR_READ[3]*4+IR_READ[4]*5;
+ if(currentPos==0)
+ {
+   STOP();
+   Flag=1;
+ }
+ else if(currentPos==15)
+ {
+  }
+ else
+ {
+   currentError= setPos-currentPos;
+   I+=currentError;
+   D=currentError-prevError;
+   prevError=currentError;
+   PIDOut=kp*currentError+ki*I+kd*D; 
+
+   analogWrite(FORWARD_RM,constrain(speed-PIDOut,0,255));
+   analogWrite(FORWARD_LM,constrain(speed+PIDOut,0,255));
+ }
+}
+
+void setup()
+{ Serial.begin(9600);
+  pinMode(FORWARD_RM, OUTPUT);
+  pinMode(FORWARD_LM, OUTPUT);
+  pinMode(BACKWARD_RM, OUTPUT);
+  pinMode(BACKWARD_LM, OUTPUT);
+  pinMode(BUTTON, INPUT_PULLUP);
+  lcd.init();                      // initialize the lcd 
+  lcd.backlight(); 
+  lcd.print("kp=");
+  delay(1000);
+}
+
+
+void loop()
+{
+  getSerial();
+
+  if(digitalRead(BUTTON)==LOW)
+    Flag=0;
+  if(Flag==0){
+  FollowLine();
+  }
+  I=0;
+}