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taborAutonomous.c
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#pragma systemFile // eliminates warning for "unreferenced" functions
#warning "drivePID"
bool drivePID(int distance) {
nMotorEncoder[leftWheel13] = 0;
nMotorEncoder[rightWheel13] = 0;
pid straight;
pid angle;
straight.kP = 0.04;
straight.kI = 0.0001;
straight.kD = 0.04;
angle.kP = 0.02;//for
angle.kI = 0.0000;
angle.kD = 0; //.15;
int timeGuess = 3*abs(distance);//#magic number 5
clearTimer(T2);
angle.target=0;
straight.target=distance;
do{
straight.error=straight.target -( nMotorEncoder[leftWheel13]+ nMotorEncoder[rightWheel13]);
angle.error=(nMotorEncoder[leftWheel13]-nMotorEncoder[rightWheel13]); //target is 0 so lazy
if(angle.error == 0) { angle.integral = 0; }
if(straight.error == 0) { straight.integral = 0; }
straight.derivative = straight.error - straight.lastError;
angle.derivative = angle.error - angle.lastError;
straight.lastError = straight.error;
angle.lastError = angle.error;
int StraightOut = straight.kP*straight.error + straight.kI*straight.integral + straight.kD*straight.derivative;
int AngleOut = angle.kP*angle.error + angle.kI*angle.integral + angle.kD*angle.derivative;
//clearLCD();
setLeftWheelSpeed(StraightOut+AngleOut);
setRightWheelSpeed(StraightOut-AngleOut);
delay(50);
if(time1[T2]>timeGuess){ //if something went wrong give up
setWheelSpeed(0);
return false;
}
} while(abs(straight.error)>30 || abs(straight.lastError)>30);
setWheelSpeed(0);
return true;
}
#warning "sTurnPID"
bool sTurnPID(int distance, int coefficient) {
nMotorEncoder[leftWheel13] = 0;
nMotorEncoder[rightWheel13] = 0;
pid straight;
pid angle;
straight.kP = 0.04;
straight.kI = 0.0001;
straight.kD = 0.04;
angle.kP = 0.02;//for
angle.kI = 0.0000;
angle.kD = 0;//.15;
int timeGuess = 3*abs(distance);//#magic number 5
clearTimer(T2);
angle.target=coefficient;
straight.target=distance;
do{
straight.error=straight.target -( nMotorEncoder[leftWheel13]+ nMotorEncoder[rightWheel13]);
angle.error=(nMotorEncoder[leftWheel13]-nMotorEncoder[rightWheel13]); //target is 0 so lazy
if(angle.error == 0) { angle.integral = 0; }
if(straight.error == 0) { straight.integral = 0; }
straight.derivative = straight.error - straight.lastError;
angle.derivative = angle.error - angle.lastError;
straight.lastError = straight.error;
angle.lastError = angle.error;
int StraightOut = straight.kP*straight.error + straight.kI*straight.integral + straight.kD*straight.derivative;
int AngleOut = angle.kP*angle.error + angle.kI*angle.integral + angle.kD*angle.derivative + coefficient;
//clearLCD();
setLeftWheelSpeed(StraightOut+AngleOut);
setRightWheelSpeed(StraightOut-AngleOut);
delay(50);
if(time1[T2]>timeGuess){ //if something went wrong give up
setWheelSpeed(0);
return false;
}
} while(abs(straight.error)>30 || abs(straight.lastError)>30);
setWheelSpeed(0);
return true;
}
#warning "turn"
bool turnPID(int distance) {
nMotorEncoder[leftWheel13] = 0;
nMotorEncoder[rightWheel13] = 0;
pid angle;
angle.kP = 0.2;//for
angle.kI = 0.0000;
angle.kD = 0.15;
int timeGuess = 3*abs(distance);//#magic number 5
clearTimer(T2);
angle.target = distance;
do{
angle.error=angle.target-(nMotorEncoder[leftWheel13]-nMotorEncoder[rightWheel13]); //target is 0 so lazy
if(angle.error == 0) { angle.integral = 0; }
angle.derivative = angle.error - angle.lastError;
angle.lastError = angle.error;
int AngleOut = angle.kP*angle.error + angle.kI*angle.integral + angle.kD*angle.derivative;
//clearLCD();
setLeftWheelSpeed(AngleOut);
setRightWheelSpeed(-AngleOut);
delay(50);
if(time1[T2]>timeGuess){ //if something went wrong give up
setWheelSpeed(0);
return false;
}
} while(abs(angle.error)>30 || abs(angle.lastError)>30);
setWheelSpeed(0);
return true;
}