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Code For Line Follower

This document defines code for controlling two motors to follow a line using sensor readings. It includes definitions for the motors and QTR sensors, calibration of the sensors, and a loop to read the sensors, calculate motor speeds based on error, and set the motor speeds. The goal is to center the sensor reading on a target position to follow the line.

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Raniel Gere Gregorio
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13 views2 pages

Code For Line Follower

This document defines code for controlling two motors to follow a line using sensor readings. It includes definitions for the motors and QTR sensors, calibration of the sensors, and a loop to read the sensors, calculate motor speeds based on error, and set the motor speeds. The goal is to center the sensor reading on a target position to follow the line.

Uploaded by

Raniel Gere Gregorio
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as TXT, PDF, TXT or read online on Scribd
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#include <AFMotor.h> //Adafruit Motor Shield Library.

First you must download


and install AFMotor library
#include <QTRSensors.h> //Pololu QTR Sensor Library. First you must download and
install QTRSensors library

AF_DCMotor motor1(1, MOTOR12_1KHZ ); //create motor #1 using M1 output on Motor


Drive Shield, set to 1kHz PWM frequency
AF_DCMotor motor2(2, MOTOR12_1KHZ ); //create motor #2 using M2 output on Motor
Drive Shield, set to 1kHz PWM frequency

#define KP 2 //experiment to determine this, start by something small that just


makes your bot follow the line at a slow speed
#define KD 5 //experiment to determine this, slowly increase the speeds and adjust
this value. ( Note: Kp < Kd)
#define M1_minumum_speed 150 //minimum speed of the Motor1
#define M2_minumum_speed 150 //minimum speed of the Motor2
#define M1_maksimum_speed 250 //max. speed of the Motor1
#define M2_maksimum_speed 250 //max. speed of the Motor2
#define MIDDLE_SENSOR 4 //number of middle sensor used
#define NUM_SENSORS 5 //number of sensors used
#define TIMEOUT 2500 //waits for 2500 us for sensor outputs to go low
#define EMITTER_PIN 2 //emitterPin is the Arduino digital pin that controls
whether the IR LEDs are on or off. Emitter is controlled by digital pin 2
#define DEBUG 0

//sensors 0 through 5 are connected to analog inputs 0 through 5, respectively


QTRSensorsRC qtrrc((unsigned char[]) { A4,A3,A2,A1,A0} ,NUM_SENSORS, TIMEOUT,
EMITTER_PIN);

unsigned int sensorValues[NUM_SENSORS];

void setup()
{
delay(1500);
manual_calibration();
set_motors(0,0);
}

int lastError = 0;
int last_proportional = 0;
int integral = 0;

void loop()
{
unsigned int sensors[5];
int position = qtrrc.readLine(sensors); //get calibrated readings along with the
line position, refer to the QTR Sensors Arduino Library for more details on line
position.
int error = position - 2000;

int motorSpeed = KP * error + KD * (error - lastError);


lastError = error;

int leftMotorSpeed = M1_minumum_speed + motorSpeed;


int rightMotorSpeed = M2_minumum_speed - motorSpeed;

// set motor speeds using the two motor speed variables above
set_motors(leftMotorSpeed, rightMotorSpeed);
}
void set_motors(int motor1speed, int motor2speed)
{
if (motor1speed > M1_maksimum_speed ) motor1speed = M1_maksimum_speed;
if (motor2speed > M2_maksimum_speed ) motor2speed = M2_maksimum_speed;
if (motor1speed < 0) motor1speed = 0;
if (motor2speed < 0) motor2speed = 0;
motor1.setSpeed(motor1speed);
motor2.setSpeed(motor2speed);
motor1.run(FORWARD);
motor2.run(FORWARD);
}

//calibrate for sometime by sliding the sensors across the line, or you may use
auto-calibration instead
void manual_calibration() {

int i;
for (i = 0; i < 250; i++)
{
qtrrc.calibrate(QTR_EMITTERS_ON);
delay(20);
}

if (DEBUG) {
Serial.begin(9600);
for (int i = 0; i < NUM_SENSORS; i++)
{
Serial.print(qtrrc.calibratedMinimumOn[i]);
Serial.print(' ');
}
Serial.println();

for (int i = 0; i < NUM_SENSORS; i++)


{
Serial.print(qtrrc.calibratedMaximumOn[i]);
Serial.print(' ');
}
Serial.println();
Serial.println();
}
}w

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