50 lines
1.3 KiB
Markdown
50 lines
1.3 KiB
Markdown
# Gradien follower PID + calibration
|
|
|
|
```blocks
|
|
let lasterror = 0
|
|
let D = 0
|
|
let I = 0
|
|
let P = 0
|
|
let error = 0
|
|
let setpoint = 0
|
|
let max = 0
|
|
let min = 0
|
|
let v = 0
|
|
v = sensors.color3.light(LightIntensityMode.Reflected)
|
|
min = v
|
|
max = v
|
|
setpoint = v
|
|
while (!(brick.buttonEnter.isPressed())) {
|
|
brick.clearScreen()
|
|
brick.showString("Move robot on terrain", 1)
|
|
brick.showString("Press ENTER when done", 2)
|
|
v = sensors.color3.light(LightIntensityMode.Reflected)
|
|
min = Math.min(min, v)
|
|
max = Math.max(max, v)
|
|
setpoint = (max + min) / 2
|
|
brick.showValue("v", v, 3)
|
|
brick.showValue("min", min, 4)
|
|
brick.showValue("max", v, 5)
|
|
brick.showValue("setpoint", setpoint, 6)
|
|
pause(100)
|
|
}
|
|
forever(function () {
|
|
brick.clearScreen()
|
|
v = sensors.color3.light(LightIntensityMode.Reflected)
|
|
brick.showValue("light", v, 1)
|
|
error = v - setpoint
|
|
brick.showValue("error", error, 2)
|
|
P = error * 5
|
|
brick.showValue("P", P, 3)
|
|
I = I + error * 0.01
|
|
brick.showValue("I", I, 4)
|
|
D = (error - lasterror) * 0.2
|
|
brick.showValue("D", D, 5)
|
|
motors.largeBC.steer(P + (I + D), 100)
|
|
lasterror = error
|
|
if (brick.buttonEnter.wasPressed()) {
|
|
motors.largeBC.run(0)
|
|
brick.buttonDown.pauseUntil(ButtonEvent.Bumped)
|
|
}
|
|
})
|
|
``` |