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line_following

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line_following [2025/02/20 12:41] – [Special Section - Wall Following with PID Control] arimline_following [2025/02/20 12:44] (current) – [Special Section - Wall Following with PID Control] arim
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 \\ Refer to this example for the PID gain values, but adjust them to best suit your Domabot. \\ 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   //(1A) Check for motor staturation i.e. resulting wCorr forces
   //motor getting > 2*speedBase (if speedBase > 50, this means >100)   //motor getting > 2*speedBase (if speedBase > 50, this means >100)
line_following.1740084110.txt.gz · Last modified: by arim