Differences

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--- line_following [2025/02/20 12:39] – [Special Section - Wall Following with PID Control] arim
+++ line_following [2025/02/20 12:44] (current) – [Special Section - Wall Following with PID Control] arim
@@ Line 207: / Line 207: @@
 ===== Special Section - Wall Following with PID Control  =====
-Code:
+Code: {{ :wfpid_tst.pdf |}}
 \\ Video: [[https://youtu.be/mo9PJ54JmFA?si=aaC9fRfzXhq-x55-]]
 \\ {{ :sec00_3.png?nolink&400 |}}
@@ Line 246: / Line 246: @@
 \\ Refer to this example for the PID gain values, but adjust them to best suit your Domabot.
+  //Variable initializations ---------------------------------------------------
+  xWall = 0;  //initialize wall distance to 0
+  dWall = 10;  //Desired distance from wall [cm]
+  wKp = 1.25;  //Wall P gain e.g. (PID) = [1.5, 0.005, 30.0]
+  wKi = 0.001;  //Wall I gain
+  wKd = 7.5;  //Wall D gain
+  //(1)Calculate wall-following PID gains
+  wE = xWall - dWall;
+  wEInt +=wE;
+  wEDot = wE - wEPrev;
+  wCorr = (wKp * wE) + (wKi * wEInt) + (wKd * wEDot);
   //(1A) Check for motor staturation i.e. resulting wCorr forces
   //motor getting > 2*speedBase (if speedBase > 50, this means >100)