Скачать или смотреть PID Line Follower Using EV3 and Small Basic

This video shows you how to build a 2 - sensor PID line follower using EV3 and Small Basic.


Learn more about PID in detail : http://www.inpharmix.com/jps/PID_Cont...

Code (in small basic language) :

Sensor.SetMode (1, 4) ' Change the first value of each to the port no
Sensor.SetMode (4, 4) '. of each of your sensors

Kp = 0.05
Ki = 0.02 ' These are K values which will differ
Kd = 0.5 'from robot-to-robot

power = -50 ' This is the speed of your robot on a straight line
' Decrease the speed if you want it to move
'smoothy (for curved lines) and increase it to
'move faster (for straight lines)
lasterror = 0
error = 0 ' Resetting the variables
integral = 0
derivative = 0
Sensorval = 0 ' Variables for storing values of the sensor
Sensorval1 = 0

motorpowerA = 0
motorpowerB = 0

While "True"
Sensorval = Sensor.ReadRawValue (4, 0)
Sensorval1 = Sensor.ReadRawValue (1, 0)
error = Sensorval - Sensorval1
integral = (integral + error)*2/3
derivative = error - lasterror

turn = Kp * error + Ki * integral + Kd * derivative
motorpowerA = power + turn
motorpowerB = power - turn
lasterror = error

Motor.StartSync ("BC", motorpowerA, motorpowerB)
EndWhile

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