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1 #6

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270010d
added PID
dilippaneru Jul 17, 2016
7d8b806
Merge pull request #1 from dilippaneru/dilippaneru-patch-1
dilippaneru Jul 17, 2016
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40 changes: 33 additions & 7 deletions differentialdrive.ino
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Original file line number Diff line number Diff line change
Expand Up @@ -13,10 +13,19 @@ const int IN3 = 5;
const int IN4 = 6;

const int Vmax=100;
const int L= 0.05 ;
const int R= 0.015 ;
const float L= 0.05 ;
const float R= 0.015 ;

void motioncommand(int v, int w)
void motioncommand(int v, int w);

float integral1,integral2;
float previous_error1,previous_error2;
float kp_1=1,
kd_1=0,
ki_1=0,
kp_2=1,
kd_2=0,
ki_2=0;

void setup()
{
Expand All @@ -32,19 +41,37 @@ void loop()
{
/*get the required velocity and rotational speed after comparing
current trajectory to the desired one (v,w)*/
float v,w;
motioncommand(v,w);

}

void motioncommand(int v, int w)
{
/*v_right and v_left may be calculated before? less computation on arduino?
*/

float v_right,v_left,error,drive,derivative;
v_right = (2*v+w*L)/(2*R);
v_left = (2*v-w*L)/(2*R);

/*get current left and right wheel velocities*/
float measuredright,measuredleft;

error = v_right - measuredright ; /*PID*/
integral1 = integral1 + error;
derivative = error - previous_error1;
drive = kp_1*error + kd_1*derivative + ki_1*integral1;
previous_error1 = error;
v_right = drive;

error = v_left - measuredleft;
integral2 = integral2 + error;
derivative = error - previous_error2;
drive = kp_2*error + kd_2*derivative + ki_2*integral2;
previous_error2 = error;
v_left=drive;

/*direction foward athawa reverse garna*/
if(v_right<0)
if(v_right<0) /*direction foward athawa reverse garna*/
{
digitalWrite (IN1, LOW);
digitalWrite (IN2, HIGH);
Expand Down Expand Up @@ -73,4 +100,3 @@ void motioncommand(int v, int w)

}